Dual PD Control Regulation with Nonlinear Compensation for a Ball and Plate System

Abstract EN

The normal proportional derivative (PD) control is modified to a new dual form for the regulation of a ball and plate system.

First, to analyze this controller, a novel complete nonlinear model of the ball and plate system is obtained.

Second, an asymptotic stable dual PD control with a nonlinear compensation is developed.

Finally, the experimental results of ball and plate system are provided to verify the effectiveness of the proposed methodology.