The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Robust Control Design Using the ε-sliding Surface for Ball and Beam System

볼-빔 시스템에서의 ε-슬라이딩 평면을 이용한 강인한 제어기 설계

  • 김진수 (동아대학교 공과대학 전기공학과) ;
  • 최호림 (동아대학교 전기공학과)
  • Received : 2010.04.01
  • Accepted : 2010.06.15
  • Published : 2010.08.01
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Abstract

The ball and beam system is one of the most popular models for studying control systems because of its nonlinearity and several control techniques have been proposed. Sliding mode control is a popular robust control method which rejects the external disturbance. In this paper, we propose a robust controller using the ${\epsilon}$-sliding surface. On the ${\epsilon}$-sliding surface, the system robustness and convergence can be manipulated via a use of ${\epsilon}$. We show the stability analysis and convergence analysis on the ${\epsilon}$-sliding surface. In addition, the experimental results show the validity of the proposed controller.

Keywords

References

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