Optimal Nonlinear Model Reference Controller Design for Ball and Plate System

摘要

This paper presents a new design procedure of an optimal nonlinear controller using the model reference approach. The ball and plate system is used as nonlinear, uncertain, and MIMO system to verify the effectiveness of the proposed controller. The main goal of the proposed design is to assure a desirable performance despite the presence of the coupling among control loops and uncertainty. The invasive weed optimization (IWO) method, which is one of the metaheuristic optimization algorithms, is used to obtain the optimal parameters of the proposed controller. The feasibility and efficiency of the proposed nonlinear controller are illustrated experimentally using real ball and plate system.