GBB1004 USER’S GUIDE & EXPERIMENT MANUAL Fourth Edition, January, 2010 Headquarter Googol Shenzhen

Copyright Statement i Disclaimer i Trademarks i Welcome to the World of Googol Technology Educational Products 1 For Additional Information about Googol Technology Products 1 For Technical or Customer Support 1 About This Manual 2 Conventions Used in the Document 3 1.2 Ball & Beam Features & Benefits 4 1.3 Ball & Beam Functional Components 4 2.1 The Ball & Beam Package 8 2.3 Getting Started in Matlab Similink 8 Copyright 2006 Googol Technology (HK) Ltd All Rights reserved

2.3.2 Step 2: Installing Ball&Beam Control Toolbox 9 3.1 Mechanical Model of Ball&Beam 18 3.2 Modeling the Ball and Beam Experiment in Simulink 19 4.1 Data Collection and Processing 29 4.2 Open-Loop Model of Ball&Beam System 31 4.3 Ball and Beam Control Using PID 33 4.4 Root Locus method 41 4.5 Frequency Response Method 49 4.6 User define Controllers 55 APPENDIX A REAL CONTROL IN IPM MOTION STUDIO58 Step by Step Installation using IPM Motion Studio 58 Step 1: Installing Control Software 5 8 Step 2: Establishing Communication 5 9 Step 3: Running the Demo Program...