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Nonlinear backstepping control design applied to magnetic ball control

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2 Author(s)
Pranayanuntana, P. ; Dept. of Electr. Eng., Polytech. Univ. of Brooklyn, NY, USA ; Riewruja, V.

The backstepping nonlinear control design scheme has been used for many years. The paper presents the use of backstepping nonlinear control design to asymptotically track the position of a magnetic ball-levitated ball. The model of the magnetic ball used is nonlinear. The design uses the backstepping nonlinear control to make the ball able to track an output signal x, a vertical position from some reference point, to a continuous twice-differentiable positive reference signal xr, asymptotically. This design suggests the use of 2 inputs u1 and u2 working mutually exclusively together to generate a piecewise continuous control law u

Published in:

TENCON 2000. Proceedings  (Volume:3 )

Date of Conference:

2000