Title :
Semi-global stabilization of the `ball and beam´ using `output´ feedback
Author_Institution :
Dept. of EE, Univ. of Minnesota, 4-174 EE/CS Building, 200 Union St. SE, Minneapolis, MN 55455
Abstract :
We present a semi-globally stabilizing family of feedback controls for the simplified "ball and beam" example which requires measurement only of the ball position and beam angle and does not require exact knowledge of the ball mass or beam inertia.
Keywords :
Angular velocity; Backstepping; Control systems; Differential equations; Feedback control; Linear approximation; Output feedback; Position measurement; Regulators; Robust control;
Conference_Titel :
American Control Conference, 1993
Conference_Location :
San Francisco, CA, USA
Print_ISBN :
0-7803-0860-3
