Global stabilization for ball-and-beam systems via state and partial state feedback

Abstract

In this paper, we present new state and partial statefeedback laws as global stabilizers of the well-known frictionless ball andbeam system. Dealing with nonlinear terms in the manner different from theones in the literature, we have achieved a new, simple state-dependentsaturation control law. The key technique is to assign a suitablestate-dependent saturation level function and jointly use the computationtechniques of linear gains. Then, combining such a state feedback law with ahomogeneous observer, we again obtain a new partial state feedback design.