Flatness-Based Control For Ball Balancing Table

In this paper, a flatness-based control strategy is proposed for LTI MIMO systems. The synthesis of the control law is based on the development of an exact observer which leads to a controller with a polynomial two-degree-of-freedom and without go through the resolution of the generalized Bezout equation. The Ball Balancing Table (BBT) is used in this study to evaluate the effectiveness of the proposed controller in stabilizing a ball at a specific reference point.