A new adaptive state feedback controller for the ball and beam system

This paper presents a new state feedback adaptive controller for the ball and beam system. The proposed controller is compared to the adaptive backstepping controller. First, the controller equations are obtained from the system linear model around the equilibrium point. Next, controller performances are evaluated in simulation using the system linear and the nonlinear models. The simulation results show that the backstepping controller has a superior performance when the linear model is used. However, it has a very poor performance when the nonlinear model is employed. Simulation results also show that performances of the adaptive L1 controller are independent of the model used to simulate the ball and beam system. The controller has a good performance in both situations.