Experimental study of ball on plate platform

摘要

This paper is extension of article SIMULATION AND EXPERIMENTAL STUDY OF BALL POSITION CONTROL AT BIAXIAL PLATFORM USING STATE SPACE APPROACH, which came out in number 1/2018 of journal Komunikácie (Communications). This extension is focused on other control techniques, which have wider bandwidth. This paper presents design of state space observer with state space feedback, which is extended by compensator to achieve better dynamic properties of control structure. Another presented control technique is sliding mode control, which is more robust and has also wider bandwidth. Control structures are designed for stabilization of the ball's position on a plate and for capability of trajectory tracking. All techniques are designed, practically verified and compared. Pole placement method was used for calculating of the parameters of the proposed control structures.