Control of a ball-and-plate system using a State-feedback controller
ABSTRACT A ball-and-plate platform is a common example of the dynamical system used to apply modeling and control concepts studied in some engineering courses. In this kind of systems, a spherical body is positioned on a mobile plate with two degrees of freedom. The system is operated by two servo m...
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Universidad de Tarapacá.
2020
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oai:scielo:S0718-330520200001000062020-04-28Control of a ball-and-plate system using a State-feedback controllerNúñez,DavidAcosta,GustavoJiménez,Jovani Ball and beam ball and plate transfer function state feedback state observer ABSTRACT A ball-and-plate platform is a common example of the dynamical system used to apply modeling and control concepts studied in some engineering courses. In this kind of systems, a spherical body is positioned on a mobile plate with two degrees of freedom. The system is operated by two servo motors that cause displacement of the sphere in the x and y axis in the plane of the platform. It is known that such a system is highly unstable and non-linear. Initially, from a phenomenological analysis we obtained a state-space representation of the system. Then, a state feedback controller using the pole assignment method was designed to maintain a desired position of the sphere over the plane. A computer vision technique allowed us measuring the two-dimensional position of the sphere over the plane in real time. Model of the plant under study and controller design for sphere positioning were experimentally validated considering different set-points. Obtained results let us know that our plant-controller is stable and responds satisfactorily to position disturbances around a reference point.info:eu-repo/semantics/openAccessUniversidad de Tarapacá.Ingeniare. Revista chilena de ingeniería v.28 n.1 20202020-03-01text/htmlhttp://www.scielo.cl/scielo.php?script=sci_arttext&pid=S0718-33052020000100006en10.4067/S0718-33052020000100006 |
| institution |
Scielo Chile |
| collection |
Scielo Chile |
| language |
English |
| topic |
Ball and beam ball and plate transfer function state feedback state observer |
| spellingShingle |
Ball and beam ball and plate transfer function state feedback state observer Núñez,David Acosta,Gustavo Jiménez,Jovani Control of a ball-and-plate system using a State-feedback controller |
| description |
ABSTRACT A ball-and-plate platform is a common example of the dynamical system used to apply modeling and control concepts studied in some engineering courses. In this kind of systems, a spherical body is positioned on a mobile plate with two degrees of freedom. The system is operated by two servo motors that cause displacement of the sphere in the x and y axis in the plane of the platform. It is known that such a system is highly unstable and non-linear. Initially, from a phenomenological analysis we obtained a state-space representation of the system. Then, a state feedback controller using the pole assignment method was designed to maintain a desired position of the sphere over the plane. A computer vision technique allowed us measuring the two-dimensional position of the sphere over the plane in real time. Model of the plant under study and controller design for sphere positioning were experimentally validated considering different set-points. Obtained results let us know that our plant-controller is stable and responds satisfactorily to position disturbances around a reference point. |
| author |
Núñez,David Acosta,Gustavo Jiménez,Jovani |
| author_facet |
Núñez,David Acosta,Gustavo Jiménez,Jovani |
| author_sort |
Núñez,David |
| title |
Control of a ball-and-plate system using a State-feedback controller |
| title_short |
Control of a ball-and-plate system using a State-feedback controller |
| title_full |
Control of a ball-and-plate system using a State-feedback controller |
| title_fullStr |
Control of a ball-and-plate system using a State-feedback controller |
| title_full_unstemmed |
Control of a ball-and-plate system using a State-feedback controller |
| title_sort |
control of a ball-and-plate system using a state-feedback controller |
| publisher |
Universidad de Tarapacá. |
| publishDate |
2020 |
| url |
http://www.scielo.cl/scielo.php?script=sci_arttext&pid=S0718-33052020000100006 |
| work_keys_str_mv |
AT nunezdavid controlofaballandplatesystemusingastatefeedbackcontroller AT acostagustavo controlofaballandplatesystemusingastatefeedbackcontroller AT jimenezjovani controlofaballandplatesystemusingastatefeedbackcontroller |
| _version_ |
1714203476341293056 |