| Title |
Switching Control of Ball and Beam System using Partial State Feedback: Jacobian and Two-Step Linearization Methods |
| Authors |
이경태(Lee, Kyung-Tae) ; 최호림(Choi, Ho-Lim) |
| DOI |
https://doi.org/10.5370/KIEE.2017.66.5.819 |
| Keywords |
Ball and beam system ; Jacobian linearization ; Input-output feedback linearization ; Two-step linearization ; State Observer ; Switching control |
| Abstract |
We propose a new switching control scheme for a ball and beam system by utilizing two linearization methods. First, the Jacobian linearization is applied and state observer is developed afterward. Then, motivated [6], the approximate input-output linearization is carried out, and after that, the Jacobian linearization is applied along with the design of state observer. Since the second approach requires two linearizations, it is called a two-step linearization method. The state observer is needed for the estimation of the velocities of ball and motor movement. Since the Jacobian linearization based controller tends to provide faster response at the initial time, and after that, the two-step linearization based controller tends to provide better response in terms of output overshoot and convergence to the origin, it is natural to give a switching control scheme to provide the best overall control response. The validity of our control scheme is shown in both simulation and experimental results. |