Adaptive approximation-based dynamic surface control for ball and beam system

This paper considers the problem of adaptiveapproximation-based dynamic surface control (DSC) for ball andbeam system with parameter uncertainties. Adaptive nonlinearin-parameter (NIP) approximator is designed to model theuncertain terms of the system. Then, the proposed scheme isdesigned by combining the dynamic surface control (DSC)technique and adaptive NIP approximator to control the positionof the ball in the presence of parameter uncertainties. No priorknowledge about uncertainties is required and all parameters ofthe approximator are adjusted during real time operation.Stability analysis of the closed-loop system is guaranteed by theLyapunov theorem. Also, it is shown that all signals of the closedloopsystem are uniformly ultimately bounded. Finally, somesimulation results are presented to verify the robustness andeffectiveness of the propose scheme.

کلیدواژه ها:

dynamic surface control ، ball and beam system ، uncertainty approximation