J. Sandoval, R. Kelly, and V. Santibañez (Mexico)
Ball and beam, Stability, Underactuated mechanical systems, Friction.
The Interconnection and Damping Assignment Passivity—Based Control (IDA-PBC) method is a strategy for the design of control systems for a class of nonlinear systems. This method has resolved the stabilization of some well—known underactuated mechanical systems. The contribution of this paper is the analysis of an IDA-PBC control system of the ball and beam system with friction. Numerical simulations are presented to illustrate these results.
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