Stabilization of the ball and beam system by dynamic output feedback using incremental measurements

The present contribution deals with the development of a stabilizing dynamic output feedback controller for the ball and beam system. The measured states are composed of the relative rotation angle and the absolute ball position. The torque applied to the beam serves as the control input. Significant practical relevance of this contribution is due to the relative rotation angle measurement, provided by most commercially available encoders. The controller is designed by employing a published inverse Lyapunov stabilizing approach together with a novel nonlinear observer based on the I&I methodology. Simulation experiments illustrate the theory and show the effectiveness of the proposed design.