Title :
Controlling a ball and wheel system using full-state-feedback linearization [Focus on Education]
Author :
Ho, Ming-Tzu ; Tu, Yi-Wei ; Lin, Hao-shuan
Author_Institution :
Dept. of Eng. Sci., Nat. Cheng Kung Univ., Tainan, Taiwan
Abstract :
In this article, the ball and wheel system was considered. A mathematical model of the system was derived to facilitate the controller design. It was shown that this system is locally full-state-feedback linearizable, and a stabilizing control law was obtained based on full-state-feedback linearization. The experimental apparatus was constructed, and the controller was implemented. Simulation and experimental results were presented to demonstrate the effectiveness of the designed controller. This experimental device is easy to build, inexpensive, and well suited for nonlinear control study.
Keywords :
control system synthesis; linearisation techniques; nonlinear control systems; stability; state feedback; ball-wheel system control; full-state-feedback linearization; mathematical model; nonlinear control design; stability; Control systems; DC motors; Digital signal processing; Digital signal processors; Operational amplifiers; Optical amplifiers; Position measurement; Sensor systems; Wheels; Wire;
Journal_Title :
Control Systems, IEEE
DOI :
10.1109/MCS.2009.934085
