Stabilization of a ball and sphere system using feedback linearization and sliding mode control

@article{Liu2011StabilizationOA,
  title={Stabilization of a ball and sphere system using feedback linearization and sliding mode control},
  author={Shih-Yuan Liu and Yusie Rizal and Ming-Tzu Ho},
  journal={2011 8th Asian Control Conference (ASCC)},
  year={2011},
  pages={1334-1339}
}
In this paper, we consider the problem of control of a laboratory experiment, called the ball and sphere system. This system consists of two dc motors that drive a big sphere to roll in two directions and to keep a small ball staying on the top of the sphere. This system is inherently nonlinear, unstable, and underactuated. The control of this system is a challenging task. In this paper, we show that around the equilibrium of the system can be decoupled into two independent ball and wheel… CONTINUE READING

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