Modelling of Ball and Plate System Based on First Principle Model and Optimal Control
F. Dušek, D. Honc, R. Sharma K.
University of Pardubice
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 LQ control of the ball and plate system – the trajectory of the ball is controlled by control voltages to the motor.
Full paper
Session
Modelling, Simulation, and Identification of Processes (Poster)
Reference
Dušek, F.; Honc, D.; Sharma K., R.: Modelling of Ball and Plate System Based on First Principle Model and Optimal Control. Editors: Fikar, M. and Kvasnica, M., In Proceedings of the 2017 21st International Conference on Process Control (PC), Štrbské Pleso, Slovakia, June 6 – 9, 216–221, 2017.
BibTeX
| @inProceedings{pc2017-027, | ||
| author | = { | Du\v{s}ek, F. and Honc, D. and Sharma K., R.}, |
| title | = { | Modelling of Ball and Plate System Based on First Principle Model and Optimal Control}, |
| booktitle | = { | Proceedings of the 2017 21st International Conference on Process Control (PC)}, |
| year | = { | 2017}, |
| pages | = { | 216-221}, |
| editor | = { | Fikar, M. and Kvasnica, M.}, |
| address | = { | \v{S}trbsk\'e Pleso, Slovakia}} |