We desire to balance a rolling ball on a tilting beam as shown in Figure P2.29. We

Question:

We desire to balance a rolling ball on a tilting beam as shown in Figure P2.29. We will assume the motor input current i controls the torque with negligible friction. Assume the beam may be balanced near the horizontal (Ï• = 0); therefore, we have a small deviation of Ï•. Find the transfer function X(s)/I(s), and draw a block diagram illustrating the transfer function showing Ï•(s), X(s), and I(s).