Modeling and nonlinear PD regulation for ball and plate system

This work discusses the regulation of the ball and plate system, the problemis to design a control laws which generates a voltage u for the servomotors to move the ball from the actual position to a desired one. The controllers are constructed by introducing nonlinear compensation terms into the traditional PD controller. In this paper, a complete physical system and controller design is explored from conception to modeling to testing and implementation. The stability of the control is presented. Experiment results are obtained via our prototype of the ball and plate system.