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Control of Ball and Beam with LQR Control Scheme using Flatness Based Approach

In this paper, a control design problem for a nonlinear ball and beam system is discussed. A state feedback linear quadratic regulator (LQR) based control scheme is discussed using the flatness property of the system. A state estimation is carried out with Kalman filter while utilizing differentially flat nonlinear system written in the Brunovsky canonical form. The performance of the proposed control strategy is validated through practical tracking results.