Impact of Control Stability using LQR and Pole-placement for Ball and Beam System

Ball and Beam System is outstanding platform for controlling, because of its extremely non-linear dynamics area. The objective of this paper is to modelling the B&B system while accounting for non-linear factors and effect of coupling, as well as develop controller to controlling the position of ball. To stabilizes and control the position of rolling Ball on the beam, Pole Placement Technique and Linear Quadratic Regulator (LQR) Controller has been applied on it. To linearize system around the operating point, Jacobian linearization approach has been used. This analysis shows LQR gives better result in comparison to Pole Placement Technique with respect to settling time and steady state error.