Ball and Beam System - Nonlinear MPC Using Hammerstein Model

Many control methods have been applied to the ball and beam system. In this paper, simulation and on-line control results are presented. The system will be identified as a Hammerstein model. A non-minimal state space model is used to derive a nonlinear model predictive control algorithm. The results indicate that a Hammerstein model provides an accurate description of this nonlinear system. When the nonlinearity is successfully compensated for a high-gain linear controller yields good performance.