Modeling and control design for the ball and plate system

Article is describing a controller synthesis for two-dimensional electromechanical system of the ball and plate intended for a study of the system dynamic and laboratory experiments with different proceeding of the control based on the classical and modern control theory. The system includes the quadratic metal plate, which is movably fixed in the center. Its inclination can be changeable in two rectangular directions. For the inclination of the plate a servo-drive with a controller and two stepping motors are used. The control problem of the described system is to hold the freely rolling ball in the specific position on the plate. For measuring the ball position, the intelligent video system composed from CCD camera, picture-framing interface and program equipment for real-time picture processing are used. According to the characteristics of the object dynamic a discrete lead compensator was chosen as a controller. Performing experiments up to the sample of a ball on the plate, the modern method of experimenting, called "Rapid Prototyping", has been chosen. The main aim was to pass over the phase of simulation up to the real object experiments with the least changes possible.