Generalized Kalman-Yakubovich-Popov Lemma Based I-PD Controller Design for Ball and Plate System
Joint Authors
Mochizuki, Shuichi
Ichihara, Hiroyuki
Source
Journal of Applied Mathematics
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-10-30
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
The ball-on-plate balancing system has a camera that captures the ball position and a plate whose inclination angles are limited.
This paper proposes a PID controller design method for the ball and plate system based on the generalized Kalman-Yakubovich-Popov lemma.
The design method has two features: first, the structure of the controller called I-PD prevents large input signals against major changes in the reference signal; second, a low-pass filter is introduced into the feedback loop to reduce the influence of the measurement noise produced by the camera.
Both simulations and experiments are used to evaluate the effectiveness of the design method.
American Psychological Association (APA)
Mochizuki, Shuichi& Ichihara, Hiroyuki. 2013. Generalized Kalman-Yakubovich-Popov Lemma Based I-PD Controller Design for Ball and Plate System. Journal of Applied Mathematics،Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-503626
Modern Language Association (MLA)
Mochizuki, Shuichi& Ichihara, Hiroyuki. Generalized Kalman-Yakubovich-Popov Lemma Based I-PD Controller Design for Ball and Plate System. Journal of Applied Mathematics No. 2013 (2013), pp.1-9.
https://search.emarefa.net/detail/BIM-503626
American Medical Association (AMA)
Mochizuki, Shuichi& Ichihara, Hiroyuki. Generalized Kalman-Yakubovich-Popov Lemma Based I-PD Controller Design for Ball and Plate System. Journal of Applied Mathematics. 2013. Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-503626
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-503626