Balance control of ball and wheel systems via feedback linearization

Ming-Tzu Ho, Hao Shuan Lin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, a control laboratory experiment, called the ball and wheel system, is introduced. The objective of this control system is to control the wheel such that the ball is balanced around its equilibrium position. This system is inherently nonlinear and unstable. The experimental setup of this system is very simple, easy to build, and suitable for the study of the nonlinear control system. One of salient features of this system is that it is feedback linearizable. Based on feedback linearization, a nonlinear controller is designed to achieve locally asymptotic stability of the system. The experimental results are given to demonstrate and validate the effectiveness of the control scheme.

Original languageEnglish
Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
Pages3926-3931
Number of pages6
Publication statusPublished - 2006
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: 2006 Dec 132006 Dec 15

Other

Other45th IEEE Conference on Decision and Control 2006, CDC
CountryUnited States
CitySan Diego, CA
Period06-12-1306-12-15

Fingerprint

Feedback Linearization
Feedback linearization
Wheel
Wheels
Ball
Nonlinear control systems
Asymptotic stability
Nonlinear Control Systems
Feedback
Control systems
Controllers
Asymptotic Stability
Unstable
Control System
Controller
Experiments
Experimental Results
Demonstrate
Experiment

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

Cite this

Ho, M-T., & Lin, H. S. (2006). Balance control of ball and wheel systems via feedback linearization. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC (pp. 3926-3931). [4177588]
Ho, Ming-Tzu ; Lin, Hao Shuan. / Balance control of ball and wheel systems via feedback linearization. Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. 2006. pp. 3926-3931
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Ho, M-T & Lin, HS 2006, Balance control of ball and wheel systems via feedback linearization. in Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC., 4177588, pp. 3926-3931, 45th IEEE Conference on Decision and Control 2006, CDC, San Diego, CA, United States, 06-12-13.

Balance control of ball and wheel systems via feedback linearization. / Ho, Ming-Tzu; Lin, Hao Shuan.

Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. 2006. p. 3926-3931 4177588.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Ho M-T, Lin HS. Balance control of ball and wheel systems via feedback linearization. In Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC. 2006. p. 3926-3931. 4177588