Research Article

Dynamic output-feedback H_∞ control design for ball and plate system

Volume: 41 Number: 2 June 25, 2020
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Dynamic output-feedback H_∞ control design for ball and plate system

Abstract

Ball and plate system is a nonlinear and unstable system, thus introducing great challenges to control scientists and it resembles many complicated real-time systems in several perspectives. There has been a good number of efforts to design a stabilizing controller for this system. This paper presents a dynamic output-feedback H_∞ control strategy for the plate and ball system based on the solution of linear matrix inequalities (LMIs). The discussion involves deriving the equations of motion of the system by using the Lagrange method, linearizing the nonlinear equations, and designing an H_∞ controller to achieve required tracking specifications on the position of the ball. The intent is to show the specified trajectory tracking performance outcomes in time domain via simulation studies conducted using MATLAB/Simulink. A circular and square trajectory following of the designed controller is compared with a baseline PID controller. It is revealed that the proposed controller exhibits an improved tracking performance to following the reference trajectories.

Keywords

References

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Details

Primary Language

English

Subjects

-

Journal Section

Research Article

Authors

Publication Date

June 25, 2020

Submission Date

January 9, 2020

Acceptance Date

April 27, 2020

Published in Issue

Year 2020 Volume: 41 Number: 2

DOI

https://doi.org/10.17776/csj.672716

IZ

https://izlik.org/JA55CM78ZF

Cite

RIS / Bibtex
APA
Coşkun, S. (2020). Dynamic output-feedback H_∞ control design for ball and plate system. Cumhuriyet Science Journal, 41(2), 534-541. https://doi.org/10.17776/csj.672716

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