Abstract Ball and Beam system is one of the most popular important laboratory models for teaching control systems. This paper proposes a new strategy to position ball beam system. Firstly, nonlinear controller proposed based on backstepping approach. Secondly, in order adapt online dynamic law, adaptive laws are developed estimate uncertain parameters. The stability proved Lyapunov theorem. Sim...

We examine the stability properties of a class of LTV di"erence equations on an in&nite-dimensional state space that arise in backstepping designs for parabolic PDEs. The nominal system matrix of the di"erence equation has a special structure: all of its powers have entries that are −1, 0, or 1, and all of the eigenvalues of the matrix are on the unit circle. The di"erence equation is driven by...

A new approach to control system design for systems containing uncertain, nonsmooth friction is proposed. The method is based on a multi-state backstepping approach to variable structure control design. Stability and robustness properties are investigated and an example is given.

This paper introduces a robust strategy for stabilizing complex industrial processes exemplified by a complex chemical reactor. The design uses a combination of backstepping methods and Lyapunov-based techniques for implementing a robust feedback controller. A model-reference-like virtual system is proposed to accomplish both asymptotic stability and satisfactory transient performance. The cont...

joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. the problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

We present a backstepping procedure for the design of globally stabilizing state feedback control laws such that the magnitudes of the control signals and their derivatives are bounded by constants which do not depend on the initial conditions. We accomplish this by propagating such boundedness properties through each step of the recursive design.

A new approach to control system design for systems containing sandwiched, uncertain, non-smooth friction is proposed. The method is based on a multi-state backstepping approach to variable structure control design. Stability and robustness properties are investigated and examples are given. ? 2002 Elsevier Science Ltd. All rights reserved.

This paper presents an adaptive nonlinear controller for Doubly-Fed Induction Generator (DFIG) in wind power generation. The control objective is to extract the maximum power (Maximum Power Point Tracking) and have a specified reactive power at the generator terminal despite the variable wind speed and the unknown mechanical parameters and mechanical torque. To achieve such a decoupled control,...

In this note, adaptive neural control is presented for a class of strict-feedback nonlinear systems with unknown time delays. Using appropriate Lyapunov–Krasovskii functionals, the uncertainties of unknown time delays are compensated for such that iterative backstepping design can be carried out. In addition, controller singularity problems are solved by using the integral Lyapunov function and...