Modelling of Ball and Plate System Based on First Principle Model and Optimal Control

Dušek, František; Honc, Daniel; Kizhakke Illom, Rahul Sharma

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Modelling of Ball and Plate System Based on First Principle Model and Optimal Control

Dušek, František; Honc, Daniel; Kizhakke Illom, Rahul Sharma

10.1109/PC.2017.7976216

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URI: https://hdl.handle.net/10195/69839

Datum publikování: 2017

Document type: ConferenceObject

xmlui.ArtifactBrowser.SimpleSearch.filter.source: Proceedings of the 21st International Conference on Process Control, PC 2017

Publisher version: http://ieeexplore.ieee.org/document/7976216/

xmlui.ArtifactBrowser.SimpleSearch.filter.event 21st International Conference on Process Control, PC 2017 (06.06.2017 - 09.06.2017, Štrbské pleso, SK)

Abstract:

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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