Velocity Observer-based Nonlinear Self-tuning Position Stabilizer for Ball-beam System Applications

This brief exhibits a nonlinear self-tuning position stabilization algorithm for ball-beam system applications under the consideration of parameter uncertainties and actuator dynamics.; there are two major contributions. First, a first-order ball velocity estimator is proposed using only the ball position feedback without dependence on system parameters. Second, the resulting nonlinear controller incorporates the time-varying feedback gain driven by the proposed self-tuner. Third, a first-order disturbance observer (DOB) is introduced to remove the high-frequency disturbance attenuation performance. The various simulation results-based-on MATLAB/Simulink validate the practical merits of the proposed scheme.