Control of Ball and Beam with LQR Control Scheme using Flatness Based Approach

被引：0
作者：
Shah, Mustansar [1 ]
Ali, Rahat [1 ]
Malik, Fahad Mumtaz [1 ]
机构：
[1] Natl Univ Sci & Technol, Coll Elecr & Mech Engn, Islamabad, Pakistan
来源：
2018 INTERNATIONAL CONFERENCE ON COMPUTING, ELECTRONIC AND ELECTRICAL ENGINEERING (ICE CUBE) | 2018年
关键词：
Nonlinear system; linear quadratic regulator; tracking; ball and beam;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
In this paper, a control design problem for a nonlinear ball and beam system is discussed. A state feedback linear quadratic regulator (LQR) based control scheme is discussed using the flatness property of the system. A state estimation is carried out with Kalman filter while utilizing differentially flat nonlinear system written in the Brunovsky canonical form. The performance of the proposed control strategy is validated through practical tracking results.
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页数：5
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