Modelling and Control of Sphere and Cylinder System

This paper is a comprehensive case study focuses on sphere and cylinder system as a new and novel system building, designing, modeling, controlling due PD controller and simulating the system results. The system 3 DOF mechanical setup, serves as a closely resemble of Ball and Beam system which known for its nonlinear dynamics. The comprehensive case study aims to achieve five main goals, demonstrate the applicability of Sphere and Cylinder system in real-world scenarios, develop a comprehensive Simulink & SimMechanics model that incorporates nonlinear factors and coupling effects (sphere's mass, actuator/cylinder's torque), design a PD controller for precise control of the sphere's positioning within the cylinder, investigate the relationship and impact of sphere mass and actuator/cylinder torque variations on the system's behavior; and explore the significance and impact of increasing the independence level of a single actuator's position and torque on controlling. Matlab & simulink program and its Simscape /SimMechanics toolbox are employed to analyze the system's instantaneous response and determine the system characteristics with considering variation of sphere's mass and actuator/cylinder's torque, aiming to identify the optimal parameters for optimal system performance. The results affirm the efficiency, robustness, and adaptability of the PD controller, contributing to the refinement and improvement of the model and affirming its accuracy in capturing real-world behavior. Moreover, the system's potentiality makes it suitable for utilization in automatic control lab experiments, airplane engineering, and various other applications, offering insights for future research.