A nonlinear backstepping control design for ball and beam system

In this paper, a technique for designing a Ball and Beam System controller based on a nonlinear backstepping design is presented. A control law is developed, and asymptotic stability based on a Lyapunov stability criterion is satisfied. The goal is to design a controller for the ball position with the least overall energy consumption and minimum overshoot. In order to illustrate the efficiency of the proposed control strategy, the simulations are demonstrated and compared with [1]. The results show that the nonlinear backstepping design gives a smoother performance and needs less input magnitude compared to the LQR design. Moreover, the robustness of the proposed design with respect to parameter variations and different reference inputs is examined, and the simulations validated the control scheme.