International Journal of Control, Automation and Systems

, Volume 8, Issue 3, pp 491–496

Synchronization of ball and beam systems with neural compensation

Regular Papers Control Theory

DOI: 10.1007/s12555-010-0301-x

Cite this article as:
Li, X. & Yu, W. Int. J. Control Autom. Syst. (2010) 8: 491. doi:10.1007/s12555-010-0301-x


Ball and beam system is one of the most popular and important laboratory models for teaching control system. It is a big challenge to synchronize ball and beam systems. There are two problems for ball and beam synchronized control: 1) many laboratories use simple controllers such as PD control, and theory analysis is based on linear models, 2) nonlinear controllers for ball and beam system have good theory results, but they are seldom used in real applications. In this paper we first use PD control with nonlinear exact compensation for the cross-coupling synchronization. Then a RBF neural network is applied to approximate the nonlinear compensator. The synchronization control can be in parallel and serial forms. The stability of the synchronization is discussed. Real experiments are applied to test our theory results.


Mechanical systemsneural controlstabilitysynchronization

Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  1. 1.Departamento de ComputaciónCINVESTAV-IPNMexico D.F.Mexico
  2. 2.Departamento de Control AutomáticoCINVESTAV-IPNMexico D.F.Mexico