The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Control of a Ball and Beam System using Switching Control Method

스위칭 제어 기법을 이용한 볼-빔 시스템의 제어

  • Lee, Kyung-Tae (Dept. of Electrical Engineering, Dong-A University) ;
  • Jeong, Min-Gil (Dept. of Electrical Engineering, Dong-A University) ;
  • Choi, Ho-Lim (Dept. of Electrical Engineering, Dong-A University)
  • Received : 2016.09.09
  • Accepted : 2016.12.09
  • Published : 2017.01.01
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Abstract

We propose a switching control scheme for the control of a ball and beam system. It was reported in [4] that a ball and beam system is a nonlinear system which has an ill-defined relative degree. So, the traditional control approaches have been mostly either Jacobian-based control or approximate input-output linearized control in nature. In this paper, motivated by [7], we combine these two traditional control approaches and operate each controller via a pre-designed switching logic so that the improved control result can be obtained without any excessive use of control input. Switching algorithm is developed based on both analysis and actual experimental observation. We verify the effectiveness of our proposed controller via actual experimental results.

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References

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