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All Journal Indonesian Journal of Engineering and Science (IJES) Journal of Fuzzy Systems and Control (JFSC) Control Systems and Optimization Letters
Nguyen, Minh-Tam
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Aerospace Engineering Automotive Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Materials Science & Nanotechnology Mechanical Engineering

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Backstepping Control for Ball and Beam: Simulation and Experiment Tran, Vo-Hoang-Lap; Le, Trung-Hieu; Hoang, Dai-Phuc; Nguyen, Van-Dong-Hai; Ho, Ngoc-Thinh; Do, Tien-Phat; Le, Tuan-Cuong; Tran, Thi-Xuan-Hy; Luong, The-Duy; Vo, Thanh-Son; Nguyen, Phuoc-Khanh; Nguyen, Minh-Tam
Journal of Fuzzy Systems and Control Vol. 3 No. 1 (2025): Vol. 3, No. 1, 2025
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/jfsc.v3i1.275

Abstract

This paper presents the modeling and control of the Ball and Beam system, a commonly used Single Input – Multiple Output (SIMO) system in control research experiments. In the study, the Backstepping method is applied to model and control the system. The linear differential equations describing the system's dynamics are derived based on fundamental mechanical principles, using the Euler-Lagrange method to develop an accurate mathematical model. Subsequently, the backstepping method is employed to design a controller that ensures the global stability of the system. Lyapunov theory is applied to prove the system's stability, with an appropriate Lyapunov function selected to guarantee the global stability of the controller. In addition to simulations, the study also conducts experiments to test the system's stability under Backstepping control. The results show that this controller is not only effective in maintaining balance and controlling the position of the ball on the beam but also addresses the limitations of traditional linear control methods. Both simulation and experimental results demonstrate the high performance and stability of the system, confirming the stability according to Lyapunov theory.
A SURVEY OF LINEAR CONTROL FOR EXPERIMENTAL BALL AND BEAM WITH MIDDLE AXIS Huynh, Duy-Khoa; Nguyen, Duc-Anh-Quan; Tran, Duc-Hien; Nguyen, Xuan-Huy; Le, Tuan-Kiet; Pham, Gia-Long; Le, Chi-Danh; Bui, Nguyen-Duc-Huy; Dang, Gia-Huy; Nguyen, Minh-Tam
Indonesian Journal of Engineering and Science Vol. 6 No. 1 (2025): Table of Contents
Publisher : Asosiasi Peneliti Sriwijaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.51630/ijes.v6i1.149

Abstract

This paper presents an experimental study of linear control algorithms applied to a Ball and Beam system with a central axis. The focus is on evaluating the ball's ability to remain balanced around the central axis and assessing the stability of linear control strategies in real-world applications. The system is controlled using an STM32F4 microcontroller, which manages a DC motor to adjust the beam's angle in response to the ball's position. Through a series of experiments and data analysis, the study explores the effectiveness of linear control in addressing the system's nonlinear dynamics and discusses the practical challenges faced during implementation. The results contribute to a deeper understanding of advanced control techniques and their potential applications in engineering.
Real-Time Trajectory Tracking Control of a DC Motor Using a Self-Tuning Regulator with Online Parameter Estimation Nguyen, Quang-Thien; Le, Hoang-Linh; Nguyen, Anh-Huy; Nguyen, Duc-Anh-Quan; Nguyen, Van-Dong-Hai; Nguyen, Minh-Tam; Nguyen, Van-Hiep; Nguyen, Thanh-Binh; Nguyen, Phuong-Quang; Le, Thi-Hong-Lam; Nguyen, Binh-Hau; Vu, Dinh-Minh
Control Systems and Optimization Letters Vol 4, No 1 (2026)
Publisher : Peneliti Teknologi Teknik Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.59247/csol.v4i1.270

Abstract

An adaptive Self-Tuning Regulator (STR) is developed for DC motor control to address performance degradation caused by load disturbances and parameter uncertainties. The method combines online system identification using recursive least squares (RLS) with automatic controller retuning in discrete time. The motor dynamics are continuously estimated and used to update the controller parameters through a pole-placement (or minimum-variance) design, thereby maintaining the desired closed-loop response without manual gain adjustment. The STR is implemented in real time and tested under speed reference changes and varying load torque. Results confirm that the proposed approach enhances tracking performance and disturbance rejection compared with conventional fixed-gain control, making it suitable for practical DC drive systems operating under changing conditions.
Co-Authors Bui, Nguyen-Duc-Huy Dang, Gia-Huy Do, Tien-Phat Ho, Ngoc-Thinh Hoang, Dai-Phuc Huynh, Duy-Khoa Le, Chi-Danh Le, Hoang-Linh Le, Thi-Hong-Lam Le, Trung-Hieu Le, Tuan-Cuong Le, Tuan-Kiet Luong, The-Duy Nguyen, Anh-Huy Nguyen, Binh-Hau Nguyen, Duc-Anh-Quan Nguyen, Phuoc-Khanh Nguyen, Phuong-Quang Nguyen, Quang-Thien Nguyen, Thanh-Binh Nguyen, Van-Dong-Hai Nguyen, Van-Hiep Nguyen, Xuan-Huy Pham, Gia-Long Tran, Duc-Hien Tran, Thi-Xuan-Hy Tran, Vo-Hoang-Lap Vo, Thanh-Son Vu, Dinh-Minh