| Title |
Control of a Ball and Beam System using Switching Control Method |
| Authors |
이경태(Lee, Kyung-Tae) ; 정민길(Jeong, Min-Gil) ; 최호림(Choi, Ho-Lim) |
| DOI |
https://doi.org/10.5370/KIEE.2017.66.1.72 |
| Keywords |
Ball and beam system ; Jacobian linearization ; Input-output feedback linearizaton ; Switching control |
| Abstract |
We propose a switching control scheme for the control of a ball and beam system. It was reported in [4] that a ball and beam system is a nonlinear system which has an ill-defined relative degree. So, the traditional control approaches have been mostly either Jacobian-based control or approximate input-output linearized control in nature. In this paper, motivated by [7], we combine these two traditional control approaches and operate each controller via a pre-designed switching logic so that the improved control result can be obtained without any excessive use of control input. Switching algorithm is developed based on both analysis and actual experimental observation. We verify the effectiveness of our proposed controller via actual experimental results. |