Digital Control of Ball & Plate Model Using LQ Controller
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F70883521%3A28140%2F17%3A63517783" target="_blank" >RIV/70883521:28140/17:63517783 - isvavai.cz</a>
Result on the web
<a href="http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7976185" target="_blank" >http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7976185</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/PC.2017.7976185" target="_blank" >10.1109/PC.2017.7976185</a>
Alternative languages
Result language
angličtina
Original language name
Digital Control of Ball & Plate Model Using LQ Controller
Original language description
This paper proposes the design of linear quadratic (LQ) digital controller in Ball & Plate model in experimental environment. The non-linear mathematical model of Ball & Plate structure is presented and adequately linearized. Polynomial approach to controller design for two degrees of freedom (2DOF) controller structure is introduced as the main tool for determination of unknown parameters. This method requires placing poles of characteristic polynomial, which are semi-optimally determined using minimization of linear quadratic criterion. This criterion is minimized by spectral factorization with the aid of the Polynomial Toolbox for MATLAB. Experiments have proved that this type of controller is able to stabilize the ball in desired position on the plate, reject external disturbances and follow reference path without much effort. In addition, a simple maze was created on the plate to extend possibilities of the choice of reference signal. The algorithm is able to determine correct path through the maze and navigate the ball along this path.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 2017 21st International Conference on Process Control, PC 2017
ISBN
978-153864011-1
ISSN
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e-ISSN
neuvedeno
Number of pages
6
Pages from-to
36-41
Publisher name
Institute of Electrical and Electronics Engineers Inc.
Place of publication
Piscataway, New Jersey
Event location
Štrbské Pleso
Event date
Jun 6, 2017
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
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