CDM BASED PID CONTROLLER FOR BALL

AND BEAM
(A) -Design of CDM controller- The standard CDM block
diagram for single input output system is shown in figure 1.

Fig.1. Standard CDM Block diagram

Where y is the output signal, r is the reference input, u is the controller

signal and d is the external disturbance signal.
N(s) and D(s) are Numerator and denominator polynomial of plant
transfer function.
A(s) is the forward denominator polynomial while F(s) and B(s) are the
reference numerator and feedback numerator polynomials of the
controller transfer function.
For the given system the output of the CDM control system is given by,
y=

N (S ) F ( s )
A (s ) N ( s)
r+
d
P( s)
P(S)

Where, P(s) is the

characteristic polynomial of the closed loop system and defined by,

P ( s )= A ( s ) D ( S ) + B ( s ) N ( s )
n

ai s i , ai> 0
i=0

Where, the controller polynomial (A(s) and B(s)) are given as,
p

A ( s ) = l i s i
i=0
q

B ( s ) = k i s

i=0

The design parameter of CDM are the stability indices ( 1 and the
equivalent time constant ( ). The stability indices determine the
stability of the system and the transient behavior of the time domain
responses (with overshoot, without overshoot and oscillation etc.)

In addition, they determine the robustness of the system to parameter

variations .The equivalent time constant which is closely related to the
bandwidth and it determines the rapidity of the time response.
According to Manabe (1998) the, design parameter are defined as
2.5 3
follows =t s / ) ..(2)
Where t s is the user specified settling time,
i =[2.5 2 2..] where i=1,.,n-1 , 0 = =0 ..(3)
Using the design parameter defined in Eq. (5) and (6) a target
characteristic polynomial ( Ptarget (s)) is formulated as
i1

ij j
j=1

ptarget

(s)=

)(

s i

)}+

s+1

..(7)

i=2

a0

By substituting the controller polynomials in Eq. (3) in to Eq. (2), the

closed loop characteristic polynomial P(s) are obtained. This
polynomial is compared with Eq.(7) to obtain the coefficients of CDM
controller polynomials li , k i ai ...(11).
(B). Design of CDM controller parameter for double integrating
process-The process considered for this study is double integrating ball
and beam system. Hence the general mathematical model of double
integrating process is given below.
Y (s) K
=
(8)
U (s) s2
Since CDM is a polynomial-based method, the transfer function of the
system is thought to be two independent polynomials ( N(s) and D(s) ) as
shown in fig. 1. These polynomials are,
N(s)= K and D(S) = s 2 ..(9)
In this work, the controller polynomials are chosen for the step disturbance
signal. By considering the equivalent transfer function of the system given
in Eq. (8), the controller polynomials have forms.
A(s)= I 1 + I 0
B(s)= K 2 s 2+ K 1 s + K 0 (10)
Where I 1 , I 0, K 2, K 1 K 0 are controller parameters. It is considered that
GP ( s )=

there is a step response affecting the system. Thus the structure of the
controller be chosen with I 0 =0 as follows :
B(s)
A (s )
K s2 + K 1 s+ K 0
= 2
I1 s

Gc (s)=

By substituting Eq. (9) and (10) in Eq. (2) the characteristic

polynomial of the control system is obtained as

P(s)= I 1 s) s 2 +( K 2 s 2 + K 1 s+ K 0 K

By substituting the values of the equivalent time constant

and the stability indices ={ 1 , 2 } in Eq. (7), the target
characteristic polynomial is formulated as
Ptarget (s) =

3 3
2 2
s +
s + s+1
2 1
1

..(13)

By equating the coefficients of the terms of equal power of Eq.

(12) and Eq. (13) the CDM controller parameters ( K 2 , K 1 , K 0 I 1 )
are computed as
K2

2
= K
1

K1

= K

K0

1
= K

and I 1

3
= 2
1 2

(14)

Fig.2. CDM PID control system

Fig.3. Equivalent CDM block diagram

1
+T s ) ..(16)
Tis d
for conventional PID element and C f (s) is the feed forward controller and
it is appropriate element satisfying the results.
B(s)
C(s)=
(17)
A (s )
F (S)
C f (s)=
(18)
B (s )
Substituting Eq. (11) and (16) in Eq. (17) we get,
1
K 2 s2 + K 1 s+ K 0
+T s )(19)
= K c ( 1+
Tis d
I1 s
By equating the coefficients of like power terms, the CDM-PID controller
parameters ( K c , T i and T d ) are obtained as follows :
K1
K1
K2
Kc =
; Ti =
; Td =
I1
K0
K1
Substituting the Eq. (10) and Eq. (15) in Eq.(18), the feed forward controller
becomes,
K0
F (s)
C f (s)=
=
(21)
B (s)
K 2 s2 + K 1 s+ K 0
The main controller C(s) = K c (1+

Type equation here . =0.5

Kp
71.4
Ti
0.50
Td
0.1988

=1
17.75
1
0.402

=2
4.464
2.011
0.799

=2.5
2.856
2.514
1

=3
1.981
3.014
1.2009

=4
1.1152
4.021
1.6007

For different values of the response of ball and beam system is

observed and for =2.5 the ball is getting stable quickly without any
oscillation. In Simulink we tried with and without filter and with filter
response is better in comparision to without filter. The Simulink and
response of system are shown below.