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Digital control of Ball & Plate model using LQ controller

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dc.title Digital control of Ball & Plate model using LQ controller en
dc.contributor.author Spaček, Ľuboš
dc.contributor.author Bobál, Vladimír
dc.contributor.author Vojtěšek, Jiří
dc.relation.ispartof Proceedings of the 2017 21st International Conference on Process Control, PC 2017
dc.identifier.isbn 9781538640111
dc.date.issued 2017
dc.citation.spage 36
dc.citation.epage 41
dc.event.title 21st International Conference on Process Control, PC 2017
dc.event.location Štrbské pleso
utb.event.state-en Slovakia
utb.event.state-cs Slovensko
dc.event.sdate 2017-06-06
dc.event.edate 2017-06-09
dc.type conferenceObject
dc.language.iso en
dc.publisher Institute of Electrical and Electronics Engineers Inc.
dc.identifier.doi 10.1109/PC.2017.7976185
dc.relation.uri http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7976185
dc.description.abstract This paper proposes the design of linear quadratic (LQ) digital controller in Ball & Plate model in experimental environment. The non-linear mathematical model of Ball & Plate structure is presented and adequately linearized. Polynomial approach to controller design for two degrees of freedom (2DOF) controller structure is introduced as the main tool for determination of unknown parameters. This method requires placing poles of characteristic polynomial, which are semi-optimally determined using minimization of linear quadratic criterion. This criterion is minimized by spectral factorization with the aid of the Polynomial Toolbox for MATLAB. Experiments have proved that this type of controller is able to stabilize the ball in desired position on the plate, reject external disturbances and follow reference path without much effort. In addition, a simple maze was created on the plate to extend possibilities of the choice of reference signal. The algorithm is able to determine correct path through the maze and navigate the ball along this path. © 2017 IEEE. en
utb.faculty Faculty of Applied Informatics
dc.identifier.uri http://hdl.handle.net/10563/1007470
utb.identifier.obdid 43877683
utb.identifier.scopus 2-s2.0-85027492465
utb.identifier.wok 000412119800007
utb.source d-scopus
dc.date.accessioned 2017-09-14T09:00:52Z
dc.date.available 2017-09-14T09:00:52Z
dc.description.sponsorship Ministry of Education of the Czech Republic under grant IGA [IGA/FAI/2017/009]
utb.contributor.internalauthor Spaček, Ľuboš
utb.contributor.internalauthor Bobál, Vladimír
utb.contributor.internalauthor Vojtěšek, Jiří
utb.scopus.affiliation Department of Process Control Faculty of Applied Informatics, Tomas Bata University in Zlin Nad, Stráněmi 4511, Zlin, Czech Republic
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