Ball and beam balance system

Can anyone please help me on how to implement a PID controller for a ball and a beam balance system with one end fixed and other end connected to a gear which is in turn connected to a servo motor.I also want to implement a fuzzy control for the same system but im not finding any material regarding that.Can anyone help me out.

Answer 1

[Arkadiy Turevskiy]

This might help you get going.

[Divyalakshme]

tanq :) Can you tell how do they get a(S)=[d/l]*[r(S)] where d=lever arm offset l=beam length r(S)=function of the distance moved by the ball a(S)=function of beam angle(i.e. the inclination of the beam) Did you do any project with the ball and the beam system?? If so please tell me more details about your work because i have taken ball and beam balance as my final year project.