Velocity observer-based nonlinear self-tuning position stabilizer for ball-beam system applications

Chae Rin Lee, Jae Kyung Park, Seok Kyoon Kim, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


This brief exhibits a nonlinear self-tuning position stabilization algorithm for ball-beam system applications under the consideration of parameter uncertainties and actuator dynamics.; there are two major contributions. First, a first-order ball velocity estimator is proposed using only the ball position feedback without dependence on system parameters. Second, the resulting nonlinear controller incorporates the time-varying feedback gain driven by the proposed self-tuner. Third, a first-order disturbance observer (DOB) is introduced to remove the high-frequency disturbance attenuation performance. The various simulation results-based-on MATLAB/Simulink validate the practical merits of the proposed scheme.

Original languageEnglish
Article number8786153
Pages (from-to)1309-1313
Number of pages5
JournalIEEE Transactions on Circuits and Systems II: Express Briefs
Issue number7
Publication statusPublished - 2020 Jul


  • Ball-beam systems
  • disturbance observer
  • self-tuner
  • velocity observer

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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