Fuzzy Dynamic Parameter Adaptation in the Harmony Search Algorithm for the Optimization of the Ball and Beam Controller

Table 5

Variables of ball and beam system.

Symbol	Definition	Value
m	Mass of the ball	0.11 kg
R	Radius of the ball	0.015 m
d	Lever arm offset	0.03 m
g	Gravitational acceleration	9.8 m/2
L	Length of the beam	1.0 m
J	Ball’s moment of inertia	9.99 e-6 kg.2
r	Ball position coordinate
Alpha	Beam angle coordinate
Theta	Servo gear angle