TY - JOUR
T1 - Stabilization of the ball on the beam system by means of the inverse Lyapunov approach
AU - Aguilar-Ibañez, Carlos
AU - Suarez-Castanon, Miguel S.
AU - Rubio, José De Jess
PY - 2012
Y1 - 2012
N2 - A novel inverse Lyapunov approach in conjunction with the energy shaping technique is applied to derive a stabilizing controller for the ball on the beam system. The proposed strategy consists of shaping a candidate Lyapunov function as if it were an inverse stability problem. To this purpose, we fix a suitable dissipation function of the unknown energy function, with the property that the selected dissipation divides the corresponding time derivative of the candidate Lyapunov function. Afterwards, the stabilizing controller is directly obtained from the already shaped Lyapunov function. The stability analysis of the closed-loop system is carried out by using the invariance theorem of LaSalle. Simulation results to test the effectiveness of the obtained controller are presented.
AB - A novel inverse Lyapunov approach in conjunction with the energy shaping technique is applied to derive a stabilizing controller for the ball on the beam system. The proposed strategy consists of shaping a candidate Lyapunov function as if it were an inverse stability problem. To this purpose, we fix a suitable dissipation function of the unknown energy function, with the property that the selected dissipation divides the corresponding time derivative of the candidate Lyapunov function. Afterwards, the stabilizing controller is directly obtained from the already shaped Lyapunov function. The stability analysis of the closed-loop system is carried out by using the invariance theorem of LaSalle. Simulation results to test the effectiveness of the obtained controller are presented.
UR - http://www.scopus.com/inward/record.url?scp=84861028468&partnerID=8YFLogxK
U2 - 10.1155/2012/810597
DO - 10.1155/2012/810597
M3 - Artículo
SN - 1024-123X
VL - 2012
JO - Mathematical Problems in Engineering
JF - Mathematical Problems in Engineering
M1 - 810597
ER -