Analysis of an IDA Passivity-based Control of the Ball and Beam System with Friction

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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