Global stabilization for ball-and-beam systems via state and partial state feedback

Huawen Ye; Honglei Xu

doi:10.3934/jimo.2016.12.17

Article Contents

2016, Volume 12, Issue 1: 17-29. Doi: 10.3934/jimo.2016.12.17

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Global stabilization for ball-and-beam systems via state and partial state feedback

Huawen Ye^1, and
Honglei Xu^2,

1.
School of Information Science and Engineering, Central South University, Changsha, Hunan 410083
2.
Department of Mathematics and Statistics, Curtin University of Technology, Perth, WA 6845

Received: May 31, 2014

Revised: September 30, 2014

Published: December 2015

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Abstract

In this paper, we present new state and partial state feedback laws as global stabilizers of the well-known frictionless ball and beam system. Dealing with nonlinear terms in the manner different from the ones in the literature, we have achieved a new, simple state-dependent saturation control law. The key technique is to assign a suitable state-dependent saturation level function and jointly use the computation techniques of linear gains. Then, combining such a state feedback law with a homogeneous observer, we again obtain a new partial state feedback design.

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Mathematics Subject Classification: Primary: 93C10, 93D15; Secondary: 93D05.

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