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In this paper, we consider a control problem of a ball and beam system with sensor noise on feedback sensor. If sensor noise exists in sensor's signal, it can make feedback signals deformed and then it can lead to control performance degradation or even system failure. Therefore, we need to design a robust controller to deal with the possible sensor noise in the feedback information. We develop an output feedback controller with a gain-scaling factor in order to minimize the effect of AC sensor noise in output feedback information. Our proposed controller is applied to a ball and beam system and verified by analysis and simulation. As a result, our controller reduces the effect of sensor noise to arbitrarily small by increasing a gain-scaling factor.

Output Feedback Control of a Ball and Beam System Based on Jacobian Linearization under Sensor Noise