Output feedback stabilization of a rotating body-beam system at zero angular velocity

In this paper we continue to study the output feedback stabilization of a rotating body-beam system by the torque control. Recently, a dynamic output feedback torque control law has been proposed to enable stabilization of the beam at the neutral position with the angular velocity equal to a constant ω ̄ , provided that | ω ̄ | > 0 is small. The present paper addresses a more challenging case where ω ̄ = 0 . By combining the designed observer from Xu et al. and the stabilizing control law of Coron and d’Andréa-Novel, we design a dynamic output feedback controller ensuring the local asymptotic stability of the closed-loop system. Numerical examples and simulations are worked out to show the effectiveness of the proposed controller.