Controlling a ball and wheel system using full-state-feedback linearization [Focus on Education]

In this article, the ball and wheel system was considered. A mathematical model of the system was derived to facilitate the controller design. It was shown that this system is locally full-state-feedback linearizable, and a stabilizing control law was obtained based on full-state-feedback linearization. The experimental apparatus was constructed, and the controller was implemented. Simulation and experimental results were presented to demonstrate the effectiveness of the designed controller. This experimental device is easy to build, inexpensive, and well suited for nonlinear control study.