Asymptotic stabilisation of the ball and beam system: design of energy-based control law and experimental results

DOI10.1080/00207171003664125MaRDI QIDQ3578769zbMATH OpenOpenAlexFDO

Authors

Publication date 20 July 2010

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207171003664125

zbMATH Keywords

asymptotic stabilityIDA-PBCball and beam

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Asymptotic stability in control theory (93D20)

Recommendations

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Cites work

• Energy-based balance control approach to the ball and beam system
• Matching, linear systems, and the ball and beam
• On the $\lambda$-Equations for Matching Control Laws
• On the sliding mode control of a ball on a beam system
• Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment

Cited in

(7)

• Stabilization of the ball on the beam system by means of the inverse Lyapunov approach
• Generalized Kalman-Yakubovich-Popov lemma based I-PD controller design for ball and plate system
• Energy-based balance control approach to the ball and beam system
• Ball on a beam: Stabilization under saturated input control with large basin of attraction
• Modeling of the ball and beam system dynamics as a nonlinear mechatronic system with geometric constraint
• The Lyapunov direct method for the stabilisation of the ball on the actuated beam
• Global stabilization for ball-and-beam systems via state and partial state feedback

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