Intelligence switching control of ball and plate system based on feedback linearization

Ball and plate system is a typical multivariable non linear plant, and it is significant to research the stabilization problem in long distance. Because of the ill relative degree, the exact input-output linearization method based on the differential geometry theory may fail, and the approximate input-output linearization approach based on robust relative degree can only be used in a limited small area. To solve this problem, a scheme that intelligent switch control algorithm based on the feedback linearization is provided, and choose three fuzzy dynamical model by defined different state subspace to replace original nonlinear system. The intelligent switch global control law is designed according to the relative degree, and the simulation results show that the work interval in this algorithm is wider than the approximate input-output linearization method.