A Sliding-Mode Controller from a Reduced System Model: Ball and Plate System Experimental Application

Luis Morales, Oscar Camacho, Paulo Leica, Danilo Chávez

2017

Abstract

The purpose of this work is to design a Sliding-Mode Control from a reduced system model using a PID as sliding surface. The controller is applied to a Ball and Plate system which has extremely non-linear characteristics and therefore does not have a unique solution in terms of ball stabilization control. The results are obtained by simulations and with real experiments in the implemented system. A comparative performance analysis is done between the proposed approach and a PID controller to stabilize the ball at fixed points of the plate.

Paper Citation

in Harvard Style

Morales L., Camacho O., Leica P. and Chávez D. (2017). A Sliding-Mode Controller from a Reduced System Model: Ball and Plate System Experimental Application . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-263-9, pages 590-597. DOI: 10.5220/0006425905900597

in Bibtex Style

@conference{icinco17,
author={Luis Morales and Oscar Camacho and Paulo Leica and Danilo Chávez},
title={A Sliding-Mode Controller from a Reduced System Model: Ball and Plate System Experimental Application},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2017},
pages={590-597},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006425905900597},
isbn={978-989-758-263-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Sliding-Mode Controller from a Reduced System Model: Ball and Plate System Experimental Application
SN - 978-989-758-263-9
AU - Morales L.
AU - Camacho O.
AU - Leica P.
AU - Chávez D.
PY - 2017
SP - 590
EP - 597
DO - 10.5220/0006425905900597