State‐constrained stabilization of beam‐balance systems

Abstract

AbstractWe present nonlinear control techniques to stabilize a beam‐balance system with state constraints. We consider two different actuator configurations: the first one is actuated by a cart moving on the beam, while in the second case, the actuation is by a single electromagnet. In the first case, the constrained stabilization problem is solvedviaan output feedback controller designed using feedback linearization, Luenberger‐like observer and linear matrix inequality based optimization. In the second case, a Lyapunov‐based controller is proposed that takes care of both the input and state constraints. Copyright © 2007 John Wiley & Sons, Ltd.