Balance control of ball and wheel systems via feedback linearization

Ming Tzu Ho; Hao Shuan Lin

doi:10.1109/cdc.2006.376708

Balance control of ball and wheel systems via feedback linearization

Ming Tzu Ho, Hao Shuan Lin

Department of Engineering Science

5 Citations (Scopus)

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 language	English
Title of host publication	Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3926-3931
Number of pages	6
ISBN (Print)	1424401712, 9781424401710
DOIs	https://doi.org/10.1109/cdc.2006.376708
Publication status	Published - 2006
Event	45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States Duration: 2006 Dec 13 → 2006 Dec 15

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	45th IEEE Conference on Decision and Control 2006, CDC
Country/Territory	United States
City	San Diego, CA
Period	06-12-13 → 06-12-15

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Modelling and Simulation
Control and Optimization

Access to Document

10.1109/cdc.2006.376708

Cite this

Ho, MT & 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, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 3926-3931, 45th IEEE Conference on Decision and Control 2006, CDC, San Diego, CA, United States, 06-12-13. https://doi.org/10.1109/cdc.2006.376708

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. Institute of Electrical and Electronics Engineers Inc., 2006. p. 3926-3931 4177588 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Balance control of ball and wheel systems via feedback linearization

AU - Ho, Ming Tzu

AU - Lin, Hao Shuan

PY - 2006

Y1 - 2006

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=39749123279&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=39749123279&partnerID=8YFLogxK

U2 - 10.1109/cdc.2006.376708

DO - 10.1109/cdc.2006.376708

M3 - Conference contribution

AN - SCOPUS:39749123279

SN - 1424401712

SN - 9781424401710

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 3926

EP - 3931

BT - Proceedings of the 45th IEEE Conference on Decision and Control 2006, CDC

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 45th IEEE Conference on Decision and Control 2006, CDC

Y2 - 13 December 2006 through 15 December 2006

ER -