Adaptive position digital control with deadbeat response for a platform on a mobile vehicle

Abstract

The proposal of this paper is demonstrating the simplicity to develop a real control position action over a platform on mobile vehicle using two different discrete controllers. The mechanical structure is depicted and the range of work operation. The characterization is based on an accelerometer in the X axis. The mathematical analysis of these controllers, classic control discrete PID and the second is a non linear position control with deadbeat response method is showed and its simulation. Finally the algorithms implemented in a microcontroller of each controller are depicted in a flowchart and the results are evaluated with the error index.