A non-linear switching controller for ball and plate system

摘要

The ball and plate system is a typical multi-variable non-linear plant. By extension of the traditional ball and beam system, it is used as a standard benchmark to inspect diverse control schemes. In this paper, a problem with trajectory-tracking of ball and plate systems is studied based on non-linear control theory. Firstly, we briefly summarise control problems of ball and plate systems and introduce a ball and plate system named BPVS-JLU developed in authors' laboratory. Then the system's mathematical model is derived using the Lagrange method. Lastly, a non-linear switching control scheme is put forward to deal with the trajectory-tracking problem after the non-linear control analysis of ball and plate system. Experimental results have shown that the proposed scheme can accomplish the task of trajectory-tracking effectively.