Control of a Ball on Sphere System with Adaptive Feedback Linearization method for regulation purpose

This paper is the nonlinear adaptive feedback linearization control of a class of multi-input multi-output (MIMO) nonlinear systems called “system of ball on a sphere”, which is designed to control and operate a ball on the top of a sphere. Nowadays, Control of nonlinear systems using the feedback linearization has attracted lots of attention in the nonlinear control theory. Since in the general case, there is uncertainty with respect of these nonlinear systems parameters, Adaptive feedback linearization are employed to obtain asymptotically accurate cancellation for this inherent uncertaintyThe system’s dynamic is described and the equations are illustrated. The results are simulated and compared in toe directions. The outputs are shown in different figures so as to be compared. These simulation results show the exactness of the controller’s performance.