UC Berkeley EE222/ME237 Nonlinear Systems Ball and Beam Project

EE222/ME237 Nonlinear Systems, Spring 2025 Course Project

Group Members

Carlo Bosio, Seoyeon Choi, Spencer Schutz

Abstract

A ball-and-beam is a classic nonlinear system for testing observer and control designs. We present an Extended Kalman Filter, tracking LQR, and approximate feedback linearization with LQR and discuss the performance following sinusoidal and square wave references. Our two controllers have similar performance in simulations. In hardware experiements, FL + LQR performs better reaching final score of 1.63.

Simulation Results

You can see the videos of the simulations below:

1. LQR

2. FL + LQR

Hardware Results

You can see the videos of the hardware experiments below:

1. LQR

2. FL + LQR