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Title:	*LQ Digital Control Of Ball & Plate System*
Authors:	Lubos Spacek, Vladimir Bobal, Jiri Vojtesek
Published in:	(2017).ECMS 2017 Proceedings Edited by: Zita Zoltay Paprika, Péter Horák, Kata Váradi, Péter Tamás Zwierczyk, Ágnes Vidovics-Dancs, János Péter Rádics European Council for Modeling and Simulation. doi:10.7148/2017 ISBN: 978-0-9932440-4-9/ ISBN: 978-0-9932440-5-6 (CD) 31st European Conference on Modelling and Simulation, Budapest, Hungary, May 23^rd – May 26^th, 2017
Citation format:	Lubos Spacek, Vladimir Bobal, Jiri Vojtesek (2017). LQ Digital Control Of Ball & Plate System, ECMS 2017 Proceedings Edited by: Zita Zoltay Paprika, Péter Horák, Kata Váradi, Péter Tamás Zwierczyk, Ágnes Vidovics-Dancs, János Péter Rádics European Council for Modeling and Simulation. doi: 10.7148/2017-0403
DOI:	https://doi.org/10.7148/2017-0403
Abstract:	This paper proposes the design of linear quadratic (LQ) digital controller for Ball & Plate model and 2DOF structure of the controller. Unknown parameters of the controller are determined with the help of polynomial approach to controller design. Semi-optimal solution is obtained using minimization of linear quadratic criterion. Spectral factorization with the aid of the Polynomial Toolbox for MATLAB was used for minimization of this LQ criterion. Additional poles of characteristic polynomial are placed so that the process is subtle and without sudden changes in controller output. Results have shown that the controller is able to stabilize the ball in desired position on the plate, reject external disturbances and follow reference path without much effort. Controller was designed for step-changing and harmonic reference signal to further examine its capabilities.
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