Robust Nonlinear Control Design and Disturbance Estimation for Ball and beam System

Rameez Khan; Fahad Mumtaz Malik; Abid Raza; Naveed Mazhar; Hameed Ullah; Muhammad Umair

doi:10.1109/iCoMET48670.2020.9073936

Robust Nonlinear Control Design and Disturbance Estimation for Ball and beam System

Rameez Khan^*
, Fahad Mumtaz Malik
, Abid Raza
, Naveed Mazhar
, Hameed Ullah
, Muhammad Umair

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

11 Scopus citations

Abstract

Robust output tracking of uncertain systems requires nonlinear controllers due to approximate parameters and exogenous disturbances. However, the design of nonlinear control is often more complex for practical implementation. This article presents a simple nonlinear robust control for the ball and beam system based on integral sliding mode control. In addition to this a low pass filter is designed to estimate the disturbance and alleviate the chattering effect. A comparison of the proposed technique with the conventional sliding mode control is carried out using MATLAB/ SIMULINK. The simulation results validate the efficacy and improved performance of the proposed technique in the presence of exogenous disturbances and parametric uncertainties.

Original language	English
Title of host publication	2020 3rd International Conference on Computing, Mathematics and Engineering Technologies
Subtitle of host publication	Idea to Innovation for Building the Knowledge Economy, iCoMET 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728149707
DOIs	https://doi.org/10.1109/iCoMET48670.2020.9073936
State	Published - Jan 2020
Externally published	Yes
Event	3rd International Conference on Computing, Mathematics and Engineering Technologies, iCoMET 2020 - Sukkur, Pakistan Duration: 29 Jan 2020 → 30 Jan 2020

Publication series

Name	2020 3rd International Conference on Computing, Mathematics and Engineering Technologies: Idea to Innovation for Building the Knowledge Economy, iCoMET 2020

Conference

Conference	3rd International Conference on Computing, Mathematics and Engineering Technologies, iCoMET 2020
Country/Territory	Pakistan
City	Sukkur
Period	29/01/20 → 30/01/20

Bibliographical note

Publisher Copyright:
© 2020 IEEE.

Keywords

Disturbance estimation
integral sliding mode
robust control
sliding mode control

ASJC Scopus subject areas

Computer Networks and Communications
Computer Science Applications
Information Systems and Management
Energy Engineering and Power Technology
Renewable Energy, Sustainability and the Environment
Management, Monitoring, Policy and Law
Computational Mathematics
Control and Optimization

Access to Document

10.1109/iCoMET48670.2020.9073936

Cite this

Khan, R., Malik, F. M., Raza, A., Mazhar, N., Ullah, H., & Umair, M. (2020). Robust Nonlinear Control Design and Disturbance Estimation for Ball and beam System. In 2020 3rd International Conference on Computing, Mathematics and Engineering Technologies: Idea to Innovation for Building the Knowledge Economy, iCoMET 2020 Article 9073936 (2020 3rd International Conference on Computing, Mathematics and Engineering Technologies: Idea to Innovation for Building the Knowledge Economy, iCoMET 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/iCoMET48670.2020.9073936

Khan, Rameez ; Malik, Fahad Mumtaz ; Raza, Abid et al. / Robust Nonlinear Control Design and Disturbance Estimation for Ball and beam System. 2020 3rd International Conference on Computing, Mathematics and Engineering Technologies: Idea to Innovation for Building the Knowledge Economy, iCoMET 2020. Institute of Electrical and Electronics Engineers Inc., 2020. (2020 3rd International Conference on Computing, Mathematics and Engineering Technologies: Idea to Innovation for Building the Knowledge Economy, iCoMET 2020).

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title = "Robust Nonlinear Control Design and Disturbance Estimation for Ball and beam System",

abstract = "Robust output tracking of uncertain systems requires nonlinear controllers due to approximate parameters and exogenous disturbances. However, the design of nonlinear control is often more complex for practical implementation. This article presents a simple nonlinear robust control for the ball and beam system based on integral sliding mode control. In addition to this a low pass filter is designed to estimate the disturbance and alleviate the chattering effect. A comparison of the proposed technique with the conventional sliding mode control is carried out using MATLAB/ SIMULINK. The simulation results validate the efficacy and improved performance of the proposed technique in the presence of exogenous disturbances and parametric uncertainties.",

keywords = "Disturbance estimation, integral sliding mode, robust control, sliding mode control",

author = "Rameez Khan and Malik, \{Fahad Mumtaz\} and Abid Raza and Naveed Mazhar and Hameed Ullah and Muhammad Umair",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 3rd International Conference on Computing, Mathematics and Engineering Technologies, iCoMET 2020 ; Conference date: 29-01-2020 Through 30-01-2020",

year = "2020",

month = jan,

doi = "10.1109/iCoMET48670.2020.9073936",

language = "English",

series = "2020 3rd International Conference on Computing, Mathematics and Engineering Technologies: Idea to Innovation for Building the Knowledge Economy, iCoMET 2020",

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Khan, R, Malik, FM, Raza, A, Mazhar, N , Ullah, H & Umair, M 2020, Robust Nonlinear Control Design and Disturbance Estimation for Ball and beam System. in 2020 3rd International Conference on Computing, Mathematics and Engineering Technologies: Idea to Innovation for Building the Knowledge Economy, iCoMET 2020., 9073936, 2020 3rd International Conference on Computing, Mathematics and Engineering Technologies: Idea to Innovation for Building the Knowledge Economy, iCoMET 2020, Institute of Electrical and Electronics Engineers Inc., 3rd International Conference on Computing, Mathematics and Engineering Technologies, iCoMET 2020, Sukkur, Pakistan, 29/01/20. https://doi.org/10.1109/iCoMET48670.2020.9073936

Robust Nonlinear Control Design and Disturbance Estimation for Ball and beam System. / Khan, Rameez; Malik, Fahad Mumtaz; Raza, Abid et al.
2020 3rd International Conference on Computing, Mathematics and Engineering Technologies: Idea to Innovation for Building the Knowledge Economy, iCoMET 2020. Institute of Electrical and Electronics Engineers Inc., 2020. 9073936 (2020 3rd International Conference on Computing, Mathematics and Engineering Technologies: Idea to Innovation for Building the Knowledge Economy, iCoMET 2020).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Robust Nonlinear Control Design and Disturbance Estimation for Ball and beam System

AU - Khan, Rameez

AU - Malik, Fahad Mumtaz

AU - Raza, Abid

AU - Mazhar, Naveed

AU - Ullah, Hameed

AU - Umair, Muhammad

PY - 2020/1

Y1 - 2020/1

N2 - Robust output tracking of uncertain systems requires nonlinear controllers due to approximate parameters and exogenous disturbances. However, the design of nonlinear control is often more complex for practical implementation. This article presents a simple nonlinear robust control for the ball and beam system based on integral sliding mode control. In addition to this a low pass filter is designed to estimate the disturbance and alleviate the chattering effect. A comparison of the proposed technique with the conventional sliding mode control is carried out using MATLAB/ SIMULINK. The simulation results validate the efficacy and improved performance of the proposed technique in the presence of exogenous disturbances and parametric uncertainties.

AB - Robust output tracking of uncertain systems requires nonlinear controllers due to approximate parameters and exogenous disturbances. However, the design of nonlinear control is often more complex for practical implementation. This article presents a simple nonlinear robust control for the ball and beam system based on integral sliding mode control. In addition to this a low pass filter is designed to estimate the disturbance and alleviate the chattering effect. A comparison of the proposed technique with the conventional sliding mode control is carried out using MATLAB/ SIMULINK. The simulation results validate the efficacy and improved performance of the proposed technique in the presence of exogenous disturbances and parametric uncertainties.

KW - Disturbance estimation

KW - integral sliding mode

KW - robust control

KW - sliding mode control

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U2 - 10.1109/iCoMET48670.2020.9073936

DO - 10.1109/iCoMET48670.2020.9073936

M3 - Conference contribution

AN - SCOPUS:85084634200

T3 - 2020 3rd International Conference on Computing, Mathematics and Engineering Technologies: Idea to Innovation for Building the Knowledge Economy, iCoMET 2020

BT - 2020 3rd International Conference on Computing, Mathematics and Engineering Technologies

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 3rd International Conference on Computing, Mathematics and Engineering Technologies, iCoMET 2020

Y2 - 29 January 2020 through 30 January 2020

ER -

Khan R, Malik FM, Raza A, Mazhar N , Ullah H, Umair M. Robust Nonlinear Control Design and Disturbance Estimation for Ball and beam System. In 2020 3rd International Conference on Computing, Mathematics and Engineering Technologies: Idea to Innovation for Building the Knowledge Economy, iCoMET 2020. Institute of Electrical and Electronics Engineers Inc. 2020. 9073936. (2020 3rd International Conference on Computing, Mathematics and Engineering Technologies: Idea to Innovation for Building the Knowledge Economy, iCoMET 2020). doi: 10.1109/iCoMET48670.2020.9073936

Robust Nonlinear Control Design and Disturbance Estimation for Ball and beam System

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this