Development of a control strategy based on ADRC, applied to a ball and beam system

• Main Authors: Fernando Jesús Regino Ubarnes, Faber Orlando Díaz Garcés
• Format: Article
• Language: English
• Published: Universidad Francisco de Paula Santander Ocaña 2020-01-01
• Series: Revista Ingenio
• Subjects: pid control; generalized integral proportional control; modeling; disturbance rejection
• Online Access: https://revistas.ufps.edu.co/index.php/ingenio/article/view/2391/2886

This document describes the development of a control strategy based on the active rejection of disturbances (CRAP), such as the Generalized Integral Proportional Control (GPI) which is applied to a Ball and Beam system. This research aims to show the advantages of the GPI control strategy in terms of monitoring and rejection of disturbances, compared to classical control techniques such as the proportional, integral and derivative (PID) controller. The validation of this design starts from the modeling of the feedback system and with this model simulations were carried out under nominal conditions, applying the two control strategies. It was found that the GPI control presented a better performance since it achieves a percentage of mean square error lower than that of the PID control, even in the presence of disturbances, so it is possible to affirm that the error tends asymptotically to zero whenever the gains of the polynomial of the error are large enough.