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In this thesis different control methods are applied to the beam and ball system. Test setup for the previous thesis is handled, circuit assemblies and hardware redesigned. As the system is controlled by the control law partitioning method by a computer, discrete time system model is created. The controllability and the observability of the system are analyzed and a nonlinear controller by using control law partitioning in other words computed torque is designed. State feedback control algorithm previously designed is repeated. In case of calculating the non measurable state variables two different reduced order observers are designed for these two different controllers, one for control law partitioning controller and the other for state-feedback controller. Two controller methods designed for the thesis study are tested in the computer environment using modeling and simulation tools (Also a different controller by using sliding mode controller is designed and tested in the computer environment using simulation tools). A controller software program is written for the designed controller algorithms and this software is tested on the test setup. It is observed that the system is stable when we apply either of the control algorithms.

Electric and hybrid-electric vehicles lean heavily on intricate control algorithms to provide smooth, reliable, and secure operations under any driving conditions. Three distinct supervisory control strategies have been developed, each aiming to improve reliability and vehicle performance of a dual-motor electric vehicle equipped with an all-wheel-drive, fully electric powertrain. These algorithms are adept at dynamically modulating and constraining the torque provided to the wheels, leveraging two autonomous permanent magnet electric drive units. This study utilizes a vehicle model jointly provided by MathWorks and General Motors in partnership with industry sponsors. The these strategies were implemented in the model and enhanced the performance, vehicle range, energy consumption, regenerated energy using specific EDUs provided by sponsors. Adhering to a systematic engineering iterative method, the emphasis was heavily placed on simulation and modeling during the development and validation of these strategies. Simulations ensured robust testing before field implementation, emphasizing software modeling's vital role.