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

The Korean Institute of Electrical Engineers (대한전기학회)
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Switching Control of Ball and Beam System using Partial State Feedback: Jacobian and Two-Step Linearization Methods

자코비안 및 2단 선형화 기법과 부분 상태궤환을 이용한 볼-빔 시스템의 스위칭 제어

  • Lee, Kyung-Tae (Dept. of Electrical Engineering, Dong-A University) ;
  • Choi, Ho-Lim (Dept. of Electrical Engineering, Dong-A University)
  • Received : 2016.12.28
  • Accepted : 2017.03.29
  • Published : 2017.05.01
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Abstract

We propose a new switching control scheme for a ball and beam system by utilizing two linearization methods. First, the Jacobian linearization is applied and state observer is developed afterward. Then, motivated [6], the approximate input-output linearization is carried out, and after that, the Jacobian linearization is applied along with the design of state observer. Since the second approach requires two linearizations, it is called a two-step linearization method. The state observer is needed for the estimation of the velocities of ball and motor movement. Since the Jacobian linearization based controller tends to provide faster response at the initial time, and after that, the two-step linearization based controller tends to provide better response in terms of output overshoot and convergence to the origin, it is natural to give a switching control scheme to provide the best overall control response. The validity of our control scheme is shown in both simulation and experimental results.

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References

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