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Volume 14
Issue 9
10.3390/electronics14091695
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Article

Compensator with Weighted Input Parameters for Automatic Ball-Balancing Mechatronic System

by
Ján Šefčík
,
Štefan Chamraz
and
Katarína Žáková
*
Institute of Automotive Mechatronics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Ilkovičova 3, 841 04 Bratislava, Slovakia
*
Author to whom correspondence should be addressed.
Electronics 2025, 14(9), 1695; https://doi.org/10.3390/electronics14091695
Submission received: 7 March 2025 / Revised: 18 April 2025 / Accepted: 21 April 2025 / Published: 22 April 2025
(This article belongs to the Special Issue Advanced PID Control: Theory and Applications Towards a Smarter PID Controller)
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Abstract

This paper presents an Automatic Ball-Balancing Mechatronic System (ABMS) with a lever transmission, which provides higher positioning accuracy for the ball. The system was identified by a double integrator, and the results confirmed the suitability of the chosen mathematical model. Then, we designed and tested a new compensator with weighted input parameters, which was firstly successfully implemented in real time on a microprocessor platform. Both simulation and then also experimental results demonstrated that the proposed controller provides stable and accurate control of the system under various step changes in the input signal.
Keywords: ball and beam system; compensator; experimental identification ball and beam system; compensator; experimental identification

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MDPI and ACS Style

Šefčík, J.; Chamraz, Š.; Žáková, K. Compensator with Weighted Input Parameters for Automatic Ball-Balancing Mechatronic System. Electronics 2025, 14, 1695. https://doi.org/10.3390/electronics14091695

AMA Style

Šefčík J, Chamraz Š, Žáková K. Compensator with Weighted Input Parameters for Automatic Ball-Balancing Mechatronic System. Electronics. 2025; 14(9):1695. https://doi.org/10.3390/electronics14091695

Chicago/Turabian Style

Šefčík, Ján, Štefan Chamraz, and Katarína Žáková. 2025. "Compensator with Weighted Input Parameters for Automatic Ball-Balancing Mechatronic System" Electronics 14, no. 9: 1695. https://doi.org/10.3390/electronics14091695

APA Style

Šefčík, J., Chamraz, Š., & Žáková, K. (2025). Compensator with Weighted Input Parameters for Automatic Ball-Balancing Mechatronic System. Electronics, 14(9), 1695. https://doi.org/10.3390/electronics14091695

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