Nonlinear Robust Observers for Ball and Beam System: A Comparative Analysis

摘要

Nonlinear robust observers for the ball and beam system are presented in this paper. Ball and beam control system is a class of nonlinear system which is used to balance a ball on a particular position on the beam. In the designing, Lyapunov theory is used for the stability analysis of the overall system and all the error signals are uniformly bounded. Proposed observers comprise of reduced order and full order robust observers. The presented methodology is easy in implementation. The simulation results demonstrate the important features and satisfactory tracking performance of the proposed observer design approach. Comparison between reduced and full order robust observers is also depicted in this paper.