융합신호처리학회 학술대회논문집 (Proceedings of the Korea Institute of Convergence Signal Processing)
- 한국신호처리시스템학회 2001년도 하계 학술대회 논문집(KISPS SUMMER CONFERENCE 2001
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- Pages.125-128
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- 2001
볼빔에 대한 비선형 제어기 및 관측기 설계
Nonlinear Controller and Observer Design for Ball and Beam
초록
In this paper, We proposed the nonlinear controller and observer design for a ball and beam system. Unfortunately, for the ball and beam system, the control coefficient is zero whenever the angular velocity or ball position are zero. Therefore, the relative degree of the ball and beam system is not well defined. The presented the nonlinear controller and observer design is based on the approximation input-output feedback linearization. And we verified that the proposed nonlinear controller and observer scheme is the feasible through a computer simulation.