CONTROL OF TWO DEGREE OF FREEDOM BALL PLATE BALANCER

Abstract

Ball and plate balancer is one of the nonlinear and unstable electromechanical system. Balancing of nonlinear system is a challenge to the control engineers and researcher. Ball plate control system is one of the benchmark problem in control engineering. There are several controllers such as fuzzy controller, PID controller robust LQR controller and which have been documented in the literature and have been applied to stabilize the ball and plate system. Controllers design are one of the important steps during the modelling of the systems. To achieve a good controller, it is needed to define suitable gain values for the controller coefficients. This thesis studied the performance of few of the control strategies that consist of conventional controller, modern controller and intelligent controller for ball and plate system with a comparison among these controllers. LQR being a modern controller is a full state feedback controller. The purpose of using LQR algorithm is to reduce the calculation burden of the system. This thesis describes the mathematical modelling and transfer function of the proposed system. The model of the system is also linearized in order to be used with the linear controllers. The works followed by the implementation of the controllers in MATLAB/SIMULINK. Fuzzy logic controller is one of new and intelligent controller which evolves with learning mechanism combination of Fuzzy and PID has also been simulated for our control system in MATLAB/SIMULINK. Each controller performance is analysed and compared which is based on common input criteria of step response.