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

Bibliographical note

Funding Information:
Manuscript received July 5, 2019; accepted July 29, 2019. Date of publication August 2, 2019; date of current version July 1, 2020. This work was supported in part by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education under Grant 2018R1A6A1A03026005, and in part by the NRF of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. This brief was recommended by Associate Editor W. Yu. (Corresponding authors: Seok-Kyoon Kim; Choon Ki Ahn.) C. R. Lee and J. K. Park are with the Graduate and Undergraduate School of Creative Convergence Engineering, Hanbat National University, Daejeon 341-58, South Korea (e-mail:;

Publisher Copyright:
© 2004-2012 IEEE.


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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


Dive into the research topics of 'Velocity observer-based nonlinear self-tuning position stabilizer for ball-beam system applications'. Together they form a unique fingerprint.

Cite this