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mick001/balancing_ball_beam.m

Last active January 13, 2020 00:36
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Balancing a ball on a beam article code.
Raw
balancing_ball_beam.m
k = -7.0071;
s = tf('s');
G = k/s^2;
% PD controller
R = -(0.38 + 0.5*50/(1+50/s));
% Design a PD controller for the unit feedback loop
L = series(R,G);
sys = feedback(L, 1);
% Phase margin
margin(L)
% Step response
step(sys)
% Root locus
rlocus(L)
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