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A comparative analysis among different controllers applied to the experimental ball and plate system

Abstract:

This paper presents a comparative analysis among three different controllers applied to a ball and plate system in stabilization tasks. The implemented proposals are Proportional Integral Derivative Control (PID), Sliding-Mode Control (SMC), and Fuzzy Control. In the case of the PID and SMC controllers, the self-regulation of the proportional constant KP and the discontinuous gain K1, respectively is proposed. The self-regulating parameters depend of the error between the set point and the actual value of the ball position on the platform; improving the performance and the response time of the system. The responses of the control actions of the different approaches are obtained by experimental tests in a real plant of the laboratory, in order to observe the response of the ball's position on the plate and the controller's performance through the Integral Squared Error (ISE) and settling time.