Functional observer-based feedback controller for ball balancing table

Abstract The two degree of freedom ball balancing table (BBT) is a well-known didactic tool used to evaluate the effectiveness and performances many control algorithms for dynamic systems. present paper proposes position BBT system via linear feedback controller based on functional observer. parameters observer are determined by applying direct method which requires neither Sylvester equation resolution nor canonical transformations. use digital has motivated elaboration equations in discrete time case. In this work, tested real-time proposed when stabilizing reference point. This continuity previous work [12], only simulation results have been carried out.