A sliding-mode controller from a reduced system model: Ball and plate system experimental application

Luis Morales, Oscar Camacho, Paulo Leica, Danilo Chávez

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

The purpose of this work is to design a Sliding-Mode Control from a reduced system model using a PID as sliding surface. The controller is applied to a Ball and Plate system which has extremely non-linear characteristics and therefore does not have a unique solution in terms of ball stabilization control. The results are obtained by simulations and with real experiments in the implemented system. A comparative performance analysis is done between the proposed approach and a PID controller to stabilize the ball at fixed points of the plate.

Original languageEnglish
Title of host publicationICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics
EditorsOleg Gusikhin, Kurosh Madani
PublisherSciTePress
Pages590-597
Number of pages8
ISBN (Electronic)9789897582639
DOIs
StatePublished - 2017
Externally publishedYes
Event14th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2017 - Madrid, Spain
Duration: 26 Jul 201728 Jul 2017

Publication series

NameICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics
Volume1

Conference

Conference14th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2017
Country/TerritorySpain
CityMadrid
Period26/07/1728/07/17

Keywords

  • Ball-Plate system
  • PID controller
  • Reduced system model
  • Sliding-mode control
  • Stabilization

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