Sliding mode control design under partial state feedback for ball and beam system

In this paper, we develop a state observer in order to estimate the velocity of a ball and angular velocity of a motor. With the observer, we propose a sliding mode controller where sliding surface consists of some measured and estimated states. Then, a new rigorous analysis will be done to show the behavior of the system on the sliding surface. We show the stability analysis and convergence analysis of the partial state observer. In addition, the experimental results show the validity of the proposed controller.