An original circular ball-and-beam system: Stabilization strategy under saturating control with large basin of attraction

Abstract

This article is devoted to the stabilization of an original circular beam-and-ball system. This system is under actuated one. The control law for this system is designed, using the Jordan form of its model, linearized near the unstable equilibrium. The limits on the voltage, fed to the motor, are taken into account explicitly. The linear model of the circular beam-and-ball system has two unstable modes. The feedback control is designed such that the basin of attraction occupies considerable part of the controllability domain. Simulation results are presented to illustrate the efficiency of this control law.