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http://dx.doi.org/10.7471/ikeee.2018.22.1.110

Robust Tracking Control of a Ball and Beam System using Optimal Bang-Bang Input  

Lee, Kyung-Tae (Dept. of Electrical Engineering, Dong-A University)
Choi, Ho-Lim (Dept. of Electrical Engineering, Dong-A University)
Publication Information
Journal of IKEEE / v.22, no.1, 2018 , pp. 110-120 More about this Journal
Abstract
In this paper, we apply the input-output linearization technique to tracking the follow-up trajectory r(t) in the ball-beam system. There exist system disturbance and various uncertainties, the conventional input-output linearization based control yields some noticeable errors in tracking performance. As a result, a new robust control technique for the uncertainty of the system was proposed and its improved performance verified through simulation and experimental results. So, more realistic system model is obtained with unmatched uncertainties and disturbance. Then, in order to improve the control performance, a new optimal bang-bang control input is additionally added.
Keywords
Ball and beam system; Input-output feedback linearization; Bang-bang input; Unmatched disturbance; Uncertainty; Tracking; Robust control;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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