ADAPTIVE NONLINEAR CONTROL OF A BALL AND BEAM SYSTEM USING THE CENTRIFUGAL FORCE TERM

There have been several results on the nonlinear control of a ball and beam system. However, the existing methods often consider a simplified model, and particularly they neglect the centrifugal force term. In this paper, we propose a full-model based adaptive state feedback controller with dynamic gain in order to control the ball and beam system using the centrifugal force term. The dynamic gain calibrates the controller gain by monitoring the centrifugal force term in an on-line. We give a theoretical analysis of the proposed controller. We also undertake some experiments to show that the proposed controller which utilizes the centrifugal force term, improves the control performance compared with some of the existing methods.

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