State-Feedback Control of Ball-Plate System: Geometric Approach

Abstract

This research focuses on investigating the issue of accurately controlling the location of the ball in the ball and plate system. The findings of this research have practical applications across several domains, including optimizing the alignment of solar panels to enhance their energy generation capacity. In this work, we propose the development of a system dynamics model using the Euler-Lagrangian approach. Furthermore, we analyze a technique in the frequency domain known as the geometric approach to create a state-feedback control that ensures the stability of the system. This study primarily focuses on analyzing the characteristic equations associated with the closed-loop system, while also considering the impact of feedback delay. Ultimately, the proposed technique is substantiated by presenting simulation data for validation.