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http://dx.doi.org/10.5370/KIEE.2010.59.8.1444

Robust Control Design Using the ε-sliding Surface for Ball and Beam System  

Kim, Jin-Soo (동아대학교 공과대학 전기공학과)
Choi, Ho-Lim (동아대학교 전기공학과)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.59, no.8, 2010 , pp. 1444-1448 More about this Journal
Abstract
The ball and beam system is one of the most popular models for studying control systems because of its nonlinearity and several control techniques have been proposed. Sliding mode control is a popular robust control method which rejects the external disturbance. In this paper, we propose a robust controller using the ${\epsilon}$-sliding surface. On the ${\epsilon}$-sliding surface, the system robustness and convergence can be manipulated via a use of ${\epsilon}$. We show the stability analysis and convergence analysis on the ${\epsilon}$-sliding surface. In addition, the experimental results show the validity of the proposed controller.
Keywords
Ball and Beam System; ${\epsilon}$-Sliding Surface; Sliding Mode Control; Input-Output Feedback Linearization;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
Times Cited By SCOPUS : 0
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