Application of Feedback Linearization to Tracking and Almost Disturbance Decoupling Control of the AMIRA Ball and Beam System

摘要

This paper studies the tracking and almost disturbance decoupling problem of the nonlinear AMIRA ball and beam system based on the feedback linearization approach. The main contribution of this study is to construct a controller, under appropriate conditions, such that the resulting closed-loop system is valid for any initial condition and bounded tracking signal with the following characteristics: input-to-state stability with respect to disturbance inputs and almost disturbance decoupling. Two examples on the almost disturbance decoupling problem, which cannot be solved via Ref. 1, are proposed in this paper exploiting the fact that the tracking and the almost disturbance decoupling performances are easily achieved by our proposed approach.