Global nonlinear control of the ball and beam system

Yi Guo, David J. Hill, Zhong Ping Jiang

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

18 Scopus citations

Abstract

In this paper, we study the regulation problem for the ball and beam system. Since the system does not have well defined relative degree, exact input-output linearization method may fail. The approximate linearization approach can only be used in a limited region. By representing the system as a fuzzy dynamic model, we give a global control law which is the weighted average of two local stabilization control laws defined over different subspaces. The simulations show that this method gives a much larger stability region than the approximate input-output linearization method.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Editors Anon
Pages2355-3592
Number of pages1238
StatePublished - 1996
EventProceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4) - Kobe, Jpn
Duration: 11 Dec 199613 Dec 1996

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume3
ISSN (Print)0191-2216

Conference

ConferenceProceedings of the 1996 35th IEEE Conference on Decision and Control. Part 3 (of 4)
CityKobe, Jpn
Period11/12/9613/12/96

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