Generalized Kalman-Yakubovich-Popov Lemma Based I-PD Controller Design for Ball and Plate System
The ball-on-plate balancing system has a camera that captures the ball position and a plate whose inclination angles are limited. This paper proposes a PID controller design method for the ball and plate system based on the generalized Kalman-Yakubovich-Popov lemma. The design method has two feature...
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| Format: | Article |
| Language: | English |
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Wiley
2013-01-01
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| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2013/854631 |
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| _version_ | 1832565154602024960 |
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| author | Shuichi Mochizuki Hiroyuki Ichihara |
| author_facet | Shuichi Mochizuki Hiroyuki Ichihara |
| author_sort | Shuichi Mochizuki |
| collection | DOAJ |
| description | The ball-on-plate balancing system has a camera that captures the ball position and a plate whose inclination angles are limited. This paper proposes a PID controller design method for the ball and plate system based on the generalized Kalman-Yakubovich-Popov lemma. The design method has two features: first, the structure of the controller called I-PD prevents large input signals against major changes in the reference signal; second, a low-pass filter is introduced into the feedback loop to reduce the influence of the measurement noise produced by the camera. Both simulations and experiments are used to evaluate the effectiveness of the design method. |
| format | Article |
| id | doaj-art-32e0970974f4431aaa141d9c754a040c |
| institution | Kabale University |
| issn | 1110-757X 1687-0042 |
| language | English |
| publishDate | 2013-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Applied Mathematics |
| spelling | doaj-art-32e0970974f4431aaa141d9c754a040c2025-02-03T01:09:08ZengWileyJournal of Applied Mathematics1110-757X1687-00422013-01-01201310.1155/2013/854631854631Generalized Kalman-Yakubovich-Popov Lemma Based I-PD Controller Design for Ball and Plate SystemShuichi Mochizuki0Hiroyuki Ichihara1Graduate School of Science and Technology, Meiji University, 1-1-1 Higashimita, Tama-ku, Kawasaki-shi, Kanagawa 214-8571, JapanDepartment of Science and Engineering, Meiji University, 1-1-1 Higashimita, Tama-ku, Kawasaki-shi, Kanagawa 214-8571, JapanThe ball-on-plate balancing system has a camera that captures the ball position and a plate whose inclination angles are limited. This paper proposes a PID controller design method for the ball and plate system based on the generalized Kalman-Yakubovich-Popov lemma. The design method has two features: first, the structure of the controller called I-PD prevents large input signals against major changes in the reference signal; second, a low-pass filter is introduced into the feedback loop to reduce the influence of the measurement noise produced by the camera. Both simulations and experiments are used to evaluate the effectiveness of the design method.http://dx.doi.org/10.1155/2013/854631 |
| spellingShingle | Shuichi Mochizuki Hiroyuki Ichihara Generalized Kalman-Yakubovich-Popov Lemma Based I-PD Controller Design for Ball and Plate System Journal of Applied Mathematics |
| title | Generalized Kalman-Yakubovich-Popov Lemma Based I-PD Controller Design for Ball and Plate System |
| title_full | Generalized Kalman-Yakubovich-Popov Lemma Based I-PD Controller Design for Ball and Plate System |
| title_fullStr | Generalized Kalman-Yakubovich-Popov Lemma Based I-PD Controller Design for Ball and Plate System |
| title_full_unstemmed | Generalized Kalman-Yakubovich-Popov Lemma Based I-PD Controller Design for Ball and Plate System |
| title_short | Generalized Kalman-Yakubovich-Popov Lemma Based I-PD Controller Design for Ball and Plate System |
| title_sort | generalized kalman yakubovich popov lemma based i pd controller design for ball and plate system |
| url | http://dx.doi.org/10.1155/2013/854631 |
| work_keys_str_mv | AT shuichimochizuki generalizedkalmanyakubovichpopovlemmabasedipdcontrollerdesignforballandplatesystem AT hiroyukiichihara generalizedkalmanyakubovichpopovlemmabasedipdcontrollerdesignforballandplatesystem |