Title :
Controller design for the beam-and-ball system
Author :
Olfati-Saber, Reza ; Megretski, Alexandre
Author_Institution :
Lab. for Inf. & Decision Syst., MIT, Cambridge, MA, USA
Abstract :
We design a controller for the beam-and-ball system that renders the origin semiglobally asymptotically stable (semi-GAS). First, we view the problem as designing a controller for a second-order subsystem of the system. Then, using a new backstepping procedure we reconstruct the control for the whole system. As our main result, we developed a new version of backstepping procedure for systems that do not have a triangular structure
Keywords :
Lyapunov methods; asymptotic stability; control system synthesis; nonlinear control systems; position control; velocity control; backstepping procedure; beam-and-ball system; controller design; second-order subsystem; semiglobal asymptotic stability; Actuators; Backstepping; Control systems; Equations; Joining processes; Linear approximation; Lyapunov method; Nonlinear dynamical systems; Nonlinear systems; Torque;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.762045
