Authors:
David Debono
and
Marvin Bugeja
Affiliation:
University of Malta, Malta
Keyword(s):
Ball and Plate System, Sliding Mode Control, Robust Control, Multivariable Control, Nonlinear Control.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Nonlinear Signals and Systems
;
Real-Time Systems Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
This paper proposes and investigates the application of sliding mode control to the ball and plate problem.
The nonlinear properties of the ball and plate control system are first presented. Then the experimental setup
designed and built specifically for the purpose of this research is discussed. The paper then focuses on the implementation
and thorough evaluation of the experimental results obtained with two different control schemes:
the linear full-state feedback controller and the sliding mode controller. The latter control strategy was selected
for its robust and order reduction properties. Finally the control performance of the two controllers
is analysed. The sliding controller manages to obtain a faster and more accurate operation for continuously
changing reference inputs. The robustness of the proposed control scheme is also verified, since the system’s
performance is shown to be insensitive to parameter variations.