Nonlinear Problems of the Ball-and-Beam System
球－杆系统的非线性问题

The real problem of the ball-and-beam system is not the nonlinear behavior under large excursions, but the limit cycle around the equilibrium point. It is pointed out that the limit cycle is caused by the hysteresis behavior of the ball during rolling. A pole placement method is proposed to avoid the limit cycle. The analysis is verified by simulation and by experiment. The stabilization approach for the ball-and-beam system is also proved to be correct.