Title: A non-linear switching controller for ball and plate system

Authors: Yantao Tian, Ming Bai, Jintao Su

Addresses: School of Communication Engineering, Jilin University, Changchun 130025, China. ' School of Communication Engineering, Jilin University, Changchun 130025, China. ' School of Communication Engineering, Jilin University, Changchun 130025, China

Abstract: The ball and plate system is a typical multi-variable non-linear plant. By extension of the traditional ball and beam system, it is used as a standard benchmark to inspect diverse control schemes. In this paper, a problem with trajectory-tracking of ball and plate systems is studied based on non-linear control theory. Firstly, we briefly summarise control problems of ball and plate systems and introduce a ball and plate system named BPVS-JLU developed in authors| laboratory. Then the system|s mathematical model is derived using the Lagrange method. Lastly, a non-linear switching control scheme is put forward to deal with the trajectory-tracking problem after the non-linear control analysis of ball and plate system. Experimental results have shown that the proposed scheme can accomplish the task of trajectory-tracking effectively.

Keywords: ball and plate systems; trajectory tracking; nonlinear control; switching control; mathematical modelling.

DOI: 10.1504/IJMIC.2006.011940

International Journal of Modelling, Identification and Control, 2006 Vol.1 No.3, pp.177 - 182

Published online: 03 Jan 2007 *

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