TY - GEN
T1 - Modeling and nonlinear PD regulation for ball and plate system
AU - Colmenares, Sergio Galvan
AU - Moreno-Armendariz, Marco A.
AU - Yu, Wen
AU - Ortiz Rodriguez, Floriberto
PY - 2012
Y1 - 2012
N2 - This work discusses the regulation of the ball and plate system, the problemis to design a control laws which generates a voltage u for the servomotors to move the ball from the actual position to a desired one. The controllers are constructed by introducing nonlinear compensation terms into the traditional PD controller. In this paper, a complete physical system and controller design is explored from conception to modeling to testing and implementation. The stability of the control is presented. Experiment results are obtained via our prototype of the ball and plate system.
AB - This work discusses the regulation of the ball and plate system, the problemis to design a control laws which generates a voltage u for the servomotors to move the ball from the actual position to a desired one. The controllers are constructed by introducing nonlinear compensation terms into the traditional PD controller. In this paper, a complete physical system and controller design is explored from conception to modeling to testing and implementation. The stability of the control is presented. Experiment results are obtained via our prototype of the ball and plate system.
UR - http://www.scopus.com/inward/record.url?scp=84870827942&partnerID=8YFLogxK
M3 - Contribución a la conferencia
AN - SCOPUS:84870827942
SN - 9781467344975
T3 - World Automation Congress Proceedings
BT - 2012 World Automation Congress, WAC 2012
T2 - 2012 World Automation Congress, WAC 2012
Y2 - 24 June 2012 through 28 June 2012
ER -