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Digital
Library of the European Council for Modelling and Simulation |
Title: |
LQ Digital Control Of Ball & Plate System |
Authors: |
Lubos Spacek, Vladimir Bobal, Jiri Vojtesek |
Published in: |
(2017).ECMS 2017 Proceedings
Edited by: Zita Zoltay
Paprika, Péter Horák, Kata Váradi, Péter Tamás Zwierczyk, Ágnes Vidovics-Dancs, János Péter Rádics European Council for Modeling and Simulation. doi:10.7148/2017 ISBN:
978-0-9932440-4-9/ ISBN:
978-0-9932440-5-6 (CD) 31st European Conference on Modelling and Simulation, Budapest, Hungary, May 23rd
– May 26th, 2017 |
Citation
format: |
Lubos Spacek, Vladimir Bobal, Jiri Vojtesek
(2017). LQ Digital Control Of Ball & Plate System, ECMS 2017 Proceedings
Edited by: Zita Zoltay
Paprika, Péter Horák, Kata Váradi, Péter Tamás Zwierczyk, Ágnes Vidovics-Dancs, János Péter Rádics European Council
for Modeling and Simulation. doi:
10.7148/2017-0403 |
DOI: |
https://doi.org/10.7148/2017-0403 |
Abstract: |
This
paper proposes the design of linear quadratic (LQ) digital controller for
Ball & Plate model and 2DOF structure of the controller. Unknown
parameters of the controller are determined with the help of polynomial
approach to controller design. Semi-optimal solution is obtained using
minimization of linear quadratic criterion. Spectral factorization with the
aid of the Polynomial Toolbox for MATLAB was used for minimization of this LQ
criterion. Additional poles of characteristic polynomial are placed so that
the process is subtle and without sudden changes in controller output.
Results have shown that the controller is able to stabilize the ball in
desired position on the plate, reject external disturbances and follow
reference path without much effort. Controller was designed for step-changing
and harmonic reference signal to further examine its capabilities. |
Full
text: |