Robust Nonlinear Control Design and Disturbance Estimation for Ball and beam System

Abstract

Robust output tracking of uncertain systems requires nonlinear controllers due to approximate parameters and exogenous disturbances. However, the design of nonlinear control is often more complex for practical implementation. This article presents a simple nonlinear robust control for the ball and beam system based on integral sliding mode control. In addition to this a low pass filter is designed to estimate the disturbance and alleviate the chattering effect. A comparison of the proposed technique with the conventional sliding mode control is carried out using MATLAB/ SIMULINK. The simulation results validate the efficacy and improved performance of the proposed technique in the presence of exogenous disturbances and parametric uncertainties.