@masterthesis{Stalnyi, type = {Bachelor Thesis}, author = {Stalnyi, Volodymyr}, title = {Controller Design, Implementation, and Comparison on a Ball-on-Wheel Test Rig}, url = {http://nbn-resolving.de/urn:nbn:de:hbz:1383-opus4-17933}, school = {Hochschule Rhein-Waal}, pages = {53}, abstract = {This thesis project considers the control of the ball-on-wheel (BOW) system with proportional-integral-derivative (PID) and full-state feedback controllers. The BOW test rig consists of the wheel that is actuated by the electric motor, motor encoder, and laser sensor. The desired outcome is to stabilize the ball around the equilibrium point on top of the wheel. By employing common control design techniques and establishing appropriate Simulink models the controllers for the BOW system were implemented. The dSpace software was used to capture the performance of the controllers, while MATLAB was used for analysis. However, various issues arose during the design and commissioning processes, preventing the state-space controller to achieve the desired outcome. As a result, a performance comparison was conducted based on Simulink models, as the state-space controller design failed to perform adequately on the BOW test rig. These issues were thoroughly explained within the thesis and the implications were summarized in the conclusion.}, language = {en} }