State-constrained stabilization of beam-balance systems

Mahindrakar A. D., Sankaranarayanan V.

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, vol.18, no.3, pp.333-350, 2008 (SCI-Expanded) identifier identifier


We 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 solved via an 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 (c) 2007 John Wiley & Sons, Ltd.