Stabilization and equilibrium control of super articulated ball and beam system

Deals with the stabilization and equilibrium control of a super-articulated ball and beam system. On the basis of establishing a mathematical model of the plant, we put forward two kinds of design methods of the controller. The state controller is realized via state feedback, where the unmeasurable states are estimated by a Luenberger reduced order observer. Different to the state control, a cascade structure is used for the fuzzy controller, the more simple definition of fuzzy variables and rules as well as a short execution time are the advantages of this structure. We consider disturbance compensation in the controller designing. Experimental studies are presented at the end of the paper. From the result, we can conclude that the algorithms have high control precision and good stability.