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On the sliding mode control of a Ball on a Beam system

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Abstract

This paper investigates the sliding mode control of the Ball on a Beam system. A static and a dynamic sliding-mode controllers are designed using a simplified model of the system; the simplified model renders the system feedback linearizable. Then, a static and a dynamic sliding-mode controllers are designed using the complete model of the Ball on a Beam system. Simulation results indicate that the proposed controllers work well.

The four proposed controllers are implemented using an experimental setup. Implementation results indicate that the proposed control schemes work well. As expected, it is found that the proposed two controllers which are designed using the complete model of the system gave better performance than the ones designed using the simplified model of the system. In addition, the experimental results indicate the two dynamic controllers greatly reduce the chattering usually associated with sliding-mode controllers.

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Authors and Affiliations

  1. Department of Electrical Engineering, College of Engineering and Petroleum, Kuwait University, P.O. Box 5969, Safat, 13060, Kuwait

    Naif B. Almutairi & Mohamed Zribi

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  1. Naif B. Almutairi
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  2. Mohamed Zribi
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Correspondence to Naif B. Almutairi.

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Almutairi, N.B., Zribi, M. On the sliding mode control of a Ball on a Beam system. Nonlinear Dyn 59, 221–238 (2010). https://doi.org/10.1007/s11071-009-9534-8

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