ROBUST CONTROL OF A BALL PLATE SYSTEM

Abstract

The project involved simulations and hardware implementation of a ball balancing system done for fulfilment of Master of technology in electrical engineering. Ball balancing system consists of balancing a ball on a plate with the help of control algorithm which has several industrial and practical applications. The ball was made to roll on the plate with the help of servo motors. The system includes real time tracking of ball using visual servoing and control of the platform using two servo motors. Controlling angle of motor makes the ball to be balanced at any desired position on the platform. Sliding mode control technique is used for overall control. The system includes real time tracking of ball using visual servoing and control of platform using two servo motors. It includes controller design using sliding mode control.