The ball-balancer or cart-ball system demonstrates some basic concepts in control being nonlinear multivariable and non-minimum phase. It is basically an inverted pendulum problem which is a much used benchmark problem.
The objective here is to provide an analysis of the system which can be the basis for designing different kinds of controllers. In this paper the cart-ball system will be optimized. Using so-called cascade control the performance of the system is improved. Responses or graphs of default system wo controller indicated the instability of system. The simplicity is doable to the process and makes it stable also faster in the future.
ball-balancer; cart-ball system; pendulum
: 621.314 hen c
Source article of Seminar Nasional Teknik Mesin 6 16 Juni 2011 , Surabaya, Indonesia
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