Stabilization of the Ball on the Beam System by Means of the Inverse Lyapunov Approach

Figure 2

Level curves of the function Φ(𝑞) around the origin, for two sets of values: 𝜂𝑘=1, 𝛿=0.015 and 𝑘_𝑝=2.5 (a) and 𝜂𝑘=1, 𝛿=0.015 and 𝑘_𝑝=1.3 (b) with restrictions on |𝑟|≤0.6 (m) and |𝜃|≤0.5 (rad).

(a)

(b)