Title

Generalized Nonlinear Robust Control Design: The Beam And Ball Example

Keywords

Beam and ball; Lyapunov's direct method; Nonlinear robust control; Recursive interlacing design

Abstract

This article develops a generalized nonlinear robust controller for the full nonlinear beam and ball dynamic system. The beam and ball system model was chosen because of its dynamic structure. The system's structure falls under the so-called generic system, where a generic design technique is needed in order to achieve global system stability without linearization or exclusion of any uncertainty or term(s) from the beam and ball model. The control design is derived using Lyapunov's direct method along with the recursive interlacing design scheme.

Publication Date

1-1-2002

Publication Title

Control and Intelligent Systems

Volume

30

Issue

3

Number of Pages

119-125

Document Type

Article

Personal Identifier

scopus

Socpus ID

0036458434 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/0036458434

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