GLOBAL STABILIZATION FOR BALL-AND-BEAM SYSTEMS VIA STATE AND PARTIAL STATE FEEDBACK

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