The set of codes provided here includes five different methods for controlling the torque output of the system; namely Proportional Integral Derivative Control (PID), cascaded PID control, Cascaded PID control with a disturbance observer (DoB), differential flatness (DF) with a DoB, feedforward (FF) PID control with a DoB and Sliding Mode Control (SMC).

This Project is based on Arduino Due platform

Implementation and analysis of a Ball & Beam Control System, including system modeling, linearization, controllability, observability, and the design of controllers and observers, with a focus on stabilizing the system using PID controllers, state feedback, and estimators to handle nonlinearities, disturbances.

Simulation-based study of an automated blood glucose control system for diabetic patients using the minimal Bergman model. Multiple control strategies (PID and state-space control with observer) are designed, tuned, and evaluated in MATLAB/Simulink under various glucose disturbance scenarios to ensure safe and stable glucose regulation.