Linear robust Generalized Proportional Integral Control of a ball and beam system for trajectory tracking tasks

In this article, the ball and beam trajectory tracking problem is tackled using a robust Generalized Proportional Integral (GPI) Controller. The controller is developed on the basis of the tangent linearized system model around the equilibrium point. The approximate linearized system is differentially flat, and hence, controllable. Flatness reveals that the resulting linearized system has an interesting cascade property which allows the simplification of the controller design. Experimental results are included to show the effectiveness of the controller in trajectory tracking and disturbance rejection control.

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