Title :
On the control of the “ball and beam” system: a trajectory planning approach
Author :
Sira-Ramirez, Hebertt
Author_Institution :
Seccion de Mecatronica, CINVESTAV-IPN, Mexico City, Mexico
Abstract :
An approximate linearization, in combination with a suitable off-line trajectory planning, is proposed for the equilibrium to equilibrium regulation of the popular “ball and beam” system. The results are illustrated by means of digital computer simulations
Keywords :
approximation theory; feedback; linearisation techniques; observers; path planning; time-varying systems; approximate linearization; ball beam system; equilibrium; observer; output feedback; time varying systems; trajectory planning; Adaptive control; Books; Computer simulation; Control systems; Feedback; Linear approximation; Lyapunov method; Mathematical model; Robust control; Trajectory;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2000.912347
