WOLFRAM SYSTEM MODELER

BallAndBeamClosedLoopSystem

A controlled ball and beam system

Diagram

Wolfram Language

In[1]:=
SystemModel["DocumentationExamples.Modeling.BallAndBeamClosedLoopSystem"]
Out[1]:=

Information

This system consists of a ball on a beam, rolling without slipping. External torque applied over the beam is controlled using state feedback. The first priority of the controller is to make sure that the ball does not fall off the beam.

Connectors (3)

T

Type: RealInput

Description: Disturbance torque

rs

Type: RealOutput

Description: Position of the ball

thetab

Type: RealOutput

Description: Angle of the beam

Components (3)

syse

Type: BallAndBeam_extended

Description: A model that encloses a plant and passes its states as outputs

state_fb

Type: state_feedback

Description: Feedback gain component

comp

Type: comparator

Description: Comparator model