Title :
Robust nonlinear control of the ball and beam system
Author :
Huang, Jie ; Lin, Ching-Fang
Author_Institution :
American GNC Corp., Chatworth, CA, USA
Abstract :
The robust nonlinear servomechanism theory is applied to design a tracking controller for the familiar ball and beam system. The central objective is to have the ball position asymptotically track a sinusoidal reference input in the presence of the ball mass and beam inertia, uncertainties. Simulations show that the resulting controller demonstrates excellent robust tracking property in comparison with other approaches
Keywords :
nonlinear control systems; robust control; servomechanisms; asymptotic tracking; ball-and-beam system; robust nonlinear control; robust nonlinear servomechanism theory; sinusoidal reference input; tracking controller; uncertainties; Acceleration; Artificial intelligence; Automatic control; Control systems; Nonlinear control systems; Particle beams; Robust control; Robustness; Servomechanisms; Torque;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.529258
