Document Type : Research Paper


Control and Systems Eng. Dept., University of Technology, Baghdad, Iraq.


In this work, the design of a quantitative PID controller is proposed for Ball and Beam system. This controller is designed to robustly compensate for the nonlinear and uncertain behavior of the ball and beam system. The PID controller parameters are obtained using the Black Hole Optimization (BHO) method subject to Quantitative Feedback Theory (QFT) consteaints. The QFT is used to design a simple and robust controller with a more desirable performance. The simulation results show that the proposed quantitative PID controller can effectively compensate the ball and beam system with robust behavior and desirable time response specifications.