Stabilizing of Ball and Plate System Using an Approximate Model

Yildiz H. A., Goren-Sumer L.

20th World Congress of the International-Federation-of-Automatic-Control (IFAC), Toulouse, France, 9 - 14 July 2017, vol.50, pp.9601-9606 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 50
  • Doi Number: 10.1016/j.ifacol.2017.08.1688
  • City: Toulouse
  • Country: France
  • Page Numbers: pp.9601-9606
  • Istanbul Technical University Affiliated: Yes


In this paper, the stabilization problem of the ball and plate system is considered. In order to derive the control rule, we propose a method to obtain an approximate solution the matching conditions which occurs as nonlinear partial differential equations (PDE's) using in the controlled Lagrangians method to stabilize under-actuated systems. The proposed approach is used an approximate model of Euler-L agrange (EL) system and with this approach, it is only required a common solution of a set of linear PDE's, instead of to solve nonlinear PDE's. Therefore, the proposed method gives us an opportunity to find an approximate solution of the matching conditions and to derive the control rule to stabilize the system. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.