peer reviewedWe study the the design of a tracking controller for
the popular bouncing ball model: the continuous-time actuation
of a table is used to control the impacts of the table with a
bouncing ball. The proposed control law uses the impact times
as the sole feedback information. We show that the acceleration
of the table at impact plays no role in the stability analysis but
is an important parameter for the robustness of the feedback
system to model uncertainty, in particular to the uncertainty
on the coefficient of restitution