Application of fuzzy logic to the well known “ball on beam” motion control problem is reported. Comparison results indicate clearly superior performance of the fuzzy controller to that of the traditional PID controller. The process of control synthesis is summarised. Key-Words: Ball on Beam Experiment, Fuzzy Control

This article is devoted to the stabilization of two under actuated planar systems, the well known straight beam-and-ball system and an original circular beamand-ball system. The feedback control for each system is designed, using the Jordan form of its model, linearized near the unstable equilibrium. The limits on the voltage, fed to the motor, are taken into account explicitly. The straight be...

This paper is a straightforward application of NLq stability criteria to neural model based controller design. We discuss the design of a linear dynamic output feedback controller for a ball and beam system for which a neural state space model is identi ed. This is done by applying dynamic backpropagation, constrained by internal or I/O stability conditions for NLq systems. The performance of t...

Given a bounded domain Ω we look at the minimal parameter Λ(Ω) for which a Bernoulli free boundary value problem for the p-Laplacian has a solution minimising an energy functional. We show that amongst all domains of equal volume Λ(Ω) is minimal for the ball. Moreover, we show that the inequality is sharp with essentially only the ball minimising Λ(Ω). This resolves a problem related to a quest...

This paper mainly addresses the balance control of a ball and beam system, where a pair of decoupled fuzzy sliding-mode controllers (DFSMCs) are proposed. The DFSMC has the advantage of reducing the design complexity, in which the coupling dynamics of the state-error dynamics are considered as disturbance terms. Stability analysis of the ball and beam system with DFSMCs is also discussed in det...

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 tested whether humans can learn to sense and compensate for interaction forces in contact tasks. Many tasks, such as use of hand tools, involve significant interaction forces between hand and environment. One control strategy would be to use high hand impedance to reduce sensitivity to these forces. But an alternative would be to learn feedback compensation for the extrinsic dynamics and ass...