Control of Ball-Plate System with Observer-Based State-Feedback and Geometric Considerations

Abstract

The ball and plate system is a very unstable and non-linear system. So different studies have been interested in this system to develop new control methods and algorithms. In this article, we propose a state feedback controller based on the Luenberger observer that provides an estimate of the system state. To this end, first, considering the feedback delay in the control loop, we determine the state space model of the Ball-Plate System, and secondly, based on the geometric method and the state feedback control developed in the previous work [7], we synthesized an observer. Finally, we tested the effectiveness of our methodology through simulation.