Title :
Model Predictive Control of a Ball and Plate laboratory model
Author :
Oravec, Matej ; Jadlovska, Anna
Author_Institution :
Dept. of Cybern. & Artificial Intell., Tech. Univ. in Kosice, Kosice, Slovakia
Abstract :
The papers presents an implementation of the predictive state space control algorithm, called Model Predictive Control (MPC). This control algorithm is verified on the Ball and Plate laboratory model, called B&P_KYB, for the reference trajectory tracking. The control algorithm is first verified using the derived nonlinear simulation model in Matlab/Simulink. Since simulation results are acceptable, an experiment is realized on the real laboratory model. The results of the experiment are demonstrated as the time response of the ball position and the voltage.
Keywords :
control engineering computing; nonlinear dynamical systems; predictive control; trajectory control; B&P_KYB; MPC; Matlab; Simulink; ball and plate laboratory model; ball position; model predictive control; nonlinear simulation model; reference trajectory tracking; voltage; Algorithm design and analysis; Heuristic algorithms; Laboratories; Mathematical model; Prediction algorithms; Predictive control; Predictive models; Ball and Plate; MPC; mechatronic system; model predictive control;
Conference_Titel :
Applied Machine Intelligence and Informatics (SAMI), 2015 IEEE 13th International Symposium on
Conference_Location :
Herl´any
DOI :
10.1109/SAMI.2015.7061869
