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Control of a Ball and Beam System under Intermittent Feedback

The control of a ball and beam system has been a well-known research subject and there have been a large number of related research results by far. To our best knowledge, however, all those existing results have basically assumed that their proposed controllers work under ‘good’ or ‘normal’ feedback conditions, which specifically means in this case that there is not any time period during which feedback is disrupted. In this paper, motivated by a recent open-loop time optimal result of [1], we suggest a new switching control method which can keep the states of a ball and beam system within certain bounds when there occurs a nontrivial feedback disruption during the operation of feedback controllers. Both simulation and experimental results are provided for verification.