Publikace: Modelling of Ball and Plate System Based on First Principle Model and Optimal Control
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Dušek, František
Honc, Daniel
Kizhakke Illom, Rahul Sharma
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IEEE (Institute of Electrical and Electronics Engineers)
Abstrakt
This paper presents modelling of ball and plate systems based on first principles by considering balance of forces and torques. A non-linear model is derived considering the dynamics of motors, gears, ball and plate. The non-linear model is linearized near the operating region to obtain a standard state space model. This linear model is used for discrete optimal control of the ball and plate system - the trajectory of the ball is controlled by control voltages to the motor.
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Ball and plate system, first principle model, optimal control, LQ control, kulička na ploše, analytický model, optimální řízení, LQ regulátor