Dual PD Control Regulation with Nonlinear Compensation for a Ball and Plate System-Reference-Cited by-同舟云学术

Dual PD Control Regulation with Nonlinear Compensation for a Ball and Plate System

Published:2014 Issue: Volume:2014 Page:1-10
ISSN:1024-123X
Container-title:Mathematical Problems in Engineering
language:en
Short-container-title:Mathematical Problems in Engineering

Author:

Galvan-Colmenares Sergio¹,Moreno-Armendáriz Marco A.¹^ORCID,Rubio José de Jesús²,Ortíz-Rodriguez Floriberto³,Yu Wen⁴,Aguilar-Ibáñez Carlos F.¹

Affiliation:

1. Centro de Investigación en Computación, Instituto Politécnico Nacional, Avenida Juan de Dios Bátiz S/N, Colonia Zacatenco, 07738 México, DF, Mexico

2. Sección de Estudios de Posgrado e Investigación, ESIME Azcapotzalco, Instituto Politécnico Nacional, Avenida de las Granjas No. 682, Colonia Santa Catarina, 02250 México, DF, Mexico

3. Escuela Superior de Ingenierìa Mecánica y Eléctrica, Instituto Politécnico Nacional, Avenida Juan de Dios Bátiz S/N, Zacatenco, 07738 México, DF, Mexico

4. Departamento de Control Automatico, CINVESTAV, Instituto Politécnico Nacional, 07370 México, DF, Mexico

Abstract

The normal proportional derivative (PD) control is modified to a new dual form for the regulation of a ball and plate system. First, to analyze this controller, a novel complete nonlinear model of the ball and plate system is obtained. Second, an asymptotic stable dual PD control with a nonlinear compensation is developed. Finally, the experimental results of ball and plate system are provided to verify the effectiveness of the proposed methodology.

Publisher

Hindawi Limited

Subject

General Engineering,General Mathematics

Link

http://downloads.hindawi.com/journals/mpe/2014/894209.pdf

Reference27 articles.

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