Active disturbance attenuation for an experimental piecewise linear beam system1

This paper presents an experimental implementation of an observer-based controller design strategy on a piecewise linear beam system comprising a flexible steel beam with a one-sided support. The observer-based controller design strategy guarantees a unique globally asymptotically stable steady-state solution of the closed-loop system, which allows for unique performance evaluation in terms of disturbance attenuation. Experimental and simulation results are presented to demonstrate the effectiveness of the strategy.