Functional observer-based feedback controller for ball balancing table

The two degree of freedom ball balancing table (BBT) is a well-known didactic tool used to evaluate the effectiveness and performances of many control algorithms for dynamic systems. The present paper proposes to control the ball position of the BBT system via a linear feedback controller based on a functional observer. The parameters of the linear functional observer are determined by applying the direct method which requires neither a Sylvester equation resolution nor canonical transformations. The use of a digital controller has motivated the elaboration of the equations in the discrete time case. In this work, the BBT is tested in real-time to evaluate the proposed controller performances when stabilizing a ball on a reference point. This paper is a continuity of the previous work [ 12 ], in which only simulation results have been carried out.