Construction and theoretical study of a ball balancing platform : Limitations when stabilizing dynamic systems through implementation of automatic control theory

Abstract: Control theory and its applications are crucial when operating within the area of dynamic systems. Compensating for disturbances and external actions imposed on a given system being inherently unstable or semi-stable. Through the physical construction of a apparatus as a demonstrator of the theory further comparing the factual physical and computer simulated results derived from Newtonian mechanics. To enable comparison, designing a satisfactory controller capable of fulfilling the requirements set for the system is necessary. With regards to apparatus and control, the introduction of a proportional-integralderivative controller for a system balancing a ball on a platform. Further allowing for analysis to determine the limitations when stabilizing a naturally unstable or semi-stable system. Also, examine how these dier from the theoretical expectations. The control applied throughout the thesis is of the type linear, exclusively being able to operate properly within the linear spectrum of control. Using standard components and a microcontroller, a apparatus is constructed to maintain a ball on a platform. This is executed through programming with Arduino libraries and open source code. Hence, for research purposes, to see if the apparatus can operate satisfactory within the linear domain of control. With the aforementioned stated, this thesis will first cover the theoretical model of the ball on platform scenario through computer aided programs. Then compare the theoretical results with the results acquired from a physical construction. Further examine why dierences occur considering control theory and system implementation.