Ball position control by discrete input and output - experimental verification

This paper concerns a control specification which requires a finer description than the resolution which sensors and/or actuators inherently have. An experimental setup is taken to clarify our problem setup. The experimental setup is a ball position control system in which a small iron ball rotates on a beam. For the experimental setup, we propose a control algorithm based on discrete input and output and continuous state estimation. Finally, the proposed method is applied to the experimental setup to demonstrate its effectiveness as well as numerical simulation.