Underactuated robotics is an emerging research direction in the field of robotics. The control
input of the underactuated robot is less than the degree of freedom of the system. It has the …

This paper describes some important classes of two degrees of freedom of underactuated
mechanical system and also surveys review of the recent state‐of‐the‐art concerning the …

The ball and beam (BnB) system serves as a benchmark in control engineering as it
provides a foundational concept applicable to addressing stabilization challenges of various …

This paper presents a state-disturbance (SD) observer-based adaptive fuzzy sliding mode
control (AFSMC) to control the ball and beam system (BBS) in the presence of matched and …

This paper presents an analytical approach for solving the weighting matrices selection
problem of a linear quadratic regulator (LQR) for the trajectory tracking application of a …

As a complex nonlinear system, the first-order incremental relationship between the state
variables of the beam and ball system (BABS) is asymmetric in the definition domain of the …

Ball and Beam system is one of the most popular and important laboratory models for
teaching control systems. This paper proposes a new control strategy to the position control …

The ball and beam system is laboratory equipment with high nonlinearity in its dynamics.
The main ideas of the paper are to model the ball and beam system considering nonlinear …

This paper introduces a design methodology of a PID controller for an unstable ball and
beam system based on Coefficient Diagram Method (CDM). Ball and beam system is a non …

This paper presents an adaptive gain-scheduled backstep** control (AGSBC) scheme for
the balance control of an underactuated mechanical power-line inspection (PLI) robotic …