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Partial Feedback Linearization and Reference Signal Tracking Control for Ball-and-Plate System

Abstract:

In this paper, we address the problem of controlling the Ball-and-Plate system using a hybrid control approach. A double-feedback-loop structure is applied, which consists of two control loops. For the inner control loop, a partial feedback linearization technique for the nonlinear plate dynamics is used with a Proportional-Derivative controller. For the outer control loop, a Taylor-based linearization for the nonlinear ball dynamics is considered. For this external loop, which includes both the nonlinear plate and ball dynamics, we design a two-degree of freedom Reference Signal Tracking controller. The simulation analysis shows that the proposed approach produces excellent results in controlling the whole nonlinear ball-and-plate system.