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Abstract
We present a new nonlinear control law to stabilise the ball and beam system at a desired operating point. The control law is based on the interconnection and damping assignment–passivity-based control (IDA-PBC) methodology developed in Ortega, Spong, Gomez-Estern, and Blankenstien (Ortega, R., Spong, M., Gomez-Estern, F., and Blankenstien, G. (2002), ‘Stabilization of Underactuated Mechanical Systems via Interconnection and Damping Assignment’, IEEE Transactions on Automatic Control, 47, 1218–1233) that guarantees stability in the sense of Lyapunov. We present a novel proof of the asymptotic stability of the desired operating point. The validity of the proposed control law is demonstrated through the experimental results.
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Acknowledgements
The authors thank the anonymous reviewers for their useful comments and suggestions. The work of the second author was sponsored by the Department of Science and Technology, India under the research grant ELE/07-08/153/DSTX/ARUD.