Desenvolvimento de um sistema Ball on Plate Uma aplicação de controle robusto

Abstract

Thestabilization of a dynamical system is the most important principle of a control system. The stability of such systems must be able to resist real-world problems, such as actuator saturation, noise in measurement sensors and disturbs that might affect the system. In light of that problem, this research proposes the design of a Ball on Plate platform where a robust H∞ state-feedback control law that gaurantees stability under actuator saturation and a Kalman filter for optimal state estimation and filtering of the input signal. The algorithms are implemented using digital control techniques on a ESP32 microcontroller. To obtain the input data a resistive touch-screen is used and 2 servomotors are used as system actuators. This work demonstrates the efficiency and robustness of a control law realized through linear matrix inequalities, as well as the optimal estimation obtained by the Kalman filter. Keywords: , , Kalman filter, digital control.