Název akce21st International Conference on Process Control, PC 2017 (06.06.2017 - 09.06.2017, Štrbské pleso, SK)
Abstrakt:
This paper presents modelling of ball and plate systems based on first principles by considering balance of forces and torques. A non-linear model is derived considering the dynamics of motors, gears, ball and plate. The non-linear model is linearized near the operating region to obtain a standard state space model. This linear model is used for discrete optimal control of the ball and plate system - the trajectory of the ball is controlled by control voltages to the motor.