Asymptotic Tracking of a Ball and Beam System

The ball and beam system is a benchmark system in nonlinear control. It consists of a long beam which can be tilted by a servo or electric motor together with a ball rolling back and forth on top of the beam. The project considers the problem of designing a controller such that the position of the ball can aysmpotically track a sinusoidal reference input. It is a typical output regulation problem in control theory. The solvability of the output regulation problem relies on the solution to the so-called regulator equations which are a set of partial differential equations (PDEs). Effective regulators are designed and the performances are compared between different regulators.