Design and implementation of Ball and Beam control system based on iterative learning control

The Ball and Beam control system based on embedded machine vision has been designed by using camera to detect the position of the ball. By analyzing the dynamics of ball and beam, the motion equations of the ball and beam system are modeled by the Lagrange equations. Then, the iterative learning control algorithm is designed to control the system. According to the result of the simulation, it is obvious that the iterative learning control algorithm can control the system very well. Finally, by selecting AM3358 as the core processor and capturing the real-time images of ball through camera, we achieve location based on the position feedback of the ball with iterative algorithm by controlling servo.