A small iron ball position control by symbolic input and output

This paper concerns a control problem for a specification which requires a finer description than the resolution of available sensors and actuators. Such a situation may arise when the sensors are kind of limit switches and actuators are on/off control architecture while control specification is to be achieved as accurate as possible. 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.