DocumentCode
1743722
Title
On the control of the “ball and beam” system: a trajectory planning approach
Author
Sira-Ramirez, Hebertt
Author_Institution
Seccion de Mecatronica, CINVESTAV-IPN, Mexico City, Mexico
Volume
4
fYear
2000
fDate
2000
Firstpage
4042
Abstract
An approximate linearization, in combination with a suitable off-line trajectory planning, is proposed for the equilibrium to equilibrium regulation of the popular “ball and beam” system. The results are illustrated by means of digital computer simulations
Keywords
approximation theory; feedback; linearisation techniques; observers; path planning; time-varying systems; approximate linearization; ball beam system; equilibrium; observer; output feedback; time varying systems; trajectory planning; Adaptive control; Books; Computer simulation; Control systems; Feedback; Linear approximation; Lyapunov method; Mathematical model; Robust control; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location
Sydney, NSW
ISSN
0191-2216
Print_ISBN
0-7803-6638-7
Type
conf
DOI
10.1109/CDC.2000.912347
Filename
912347
Link To Document