WAC 2012 1569524077

Modeling and Nonlinear PD regulation for Ball and

Plate System
Sergio Galvan Colmenares
Marco A. Moreno-Armendáriz
Cesar Áaron Perez Olvera
Centro de Investigación en Computación
Instituto Politécnico Nacional
México D.F., México
Email: gcolmenaresb09@cic.ipn.cmx
mam armendariz@cic.ipn.mx
Wen Yu
Departamento de Control
Automático CINVESTAV
Instituto Politécnico Nacional
México D.F., México
Email: yuw@ctrl.cinvestav.mx
Floriberto Ortiz Rodriguez
Escuela Superior de Ingenierı́a
Mecánica y Eléctrica Zacatenco
Instituto Politécnico Nacional
México D.F., México
Email: flortiz@ipn.mx

Abstract—This work discusses the regulation of the
ball and plate system , the problem is to design a control
laws which generates a voltage u for the servomotors
to move the ball from the actual position to a desired
one. The controllers are constructed by introducing
nonlinear compensation terms into the traditional PD
controller. In this paper, a complete physical system
and controller design is explored from conception to
modeling to testing and implementation. The stability
of the control is presented. Experiment results are
obtained via our prototype of the ball and plate system.
I. Introduction
Numerous researchers have investigated the regulation
problem on a ball-and-plate system. The ball and plate
system is one of the most popular and important labo-
ratory models for teaching. The Ball and plate system
is a multi-variable plant, which is the extension of the
traditional ball and beam problems [1]-[5]. The ball and
beam system is a two degree of freedom system consisting
of a ball that can roll on a rigid beam. On the another
hand, the ball and plate system is a four degree of free-
dom system consisting of a ball that can roll freely on
a rigid plate. This system has not attracted too much
attention; the main drawback is the difficulty of building
this mechanism. However, considering that this system
has enormous potential as a test bed for different kind
of control strategies like neural network control [6], fuzzy
control [7], conventional control [8], stability analysis [9]
and [10], Nonlinear control [11], sliding mode control
[12],[13] and [14], etc. The goal of this research is to develop
a PD regulation with compensation to control a ball and
plate system, capable of controlling the position of ball on
a plate for both axes (x, y). The initially horizontal plate
will be tilted along each of two horizontal axes in order
to control the position of the ball. Each tilting axis will
be operated on by a servomotor. The position of the ball
on the plate will be sensed through a camera. In previous
studies we work with a small and famous version of this
kind of dynamic system: the ball and beam system, this
system has two degree of freedom and our research group
already obtains very good results [15]. In this work was
made the prototype [16] to illustrate the effectiveness of
our algorithms, then we analyze the stability of this PD
regulation with the whole nonlinear model of the ball and
plate system.
II. Related work
In [17], a new kind of Lyapunov function is proposed
which can be exploited to construct a stabilizing switching
control scheme. They have introduced the new concepts
of switching-driving Lyapunov function and switching-
driven stability. They have implemented tools to find a
locally asymptotically stabilizing switching control scheme
for the ball and plate system. In [?], this work they
presents the sliding mode control of the ball on a beam
system. The authors designed a static and a dynamic
sliding model of the system. They first use a simplified
model of the ball-and-beam system to design a static and
a dynamic sliding-mode controllers for the system, then
the authors use the full model to design the controllers.
In [18], the control goal is to place the robot end-effector
over a desired static target by using a vision system
equipped with a fixed camera to see the robot end-effector
and target. They have presented theoretical aspects in
fixed-camera visual servoing of planar robots. This study
includes besides a Lyapunov stability analysis. In this
work we includes a similar Lyapunov stability analysis,
we transform the whole ball and plate system into a robot
dynamics structure. They design the controller based on
the linear model, a simple PID controller is adequate to
obtain a very high response speed. They developed their
prototype using the real time control prototyping tool
dSpace. In [14] the authors presented a visual servoing
control for a ball-and-plate system to track its desired
trajectory. A sliding mode controller is designed to cope
with the changes in the material of the plate and the
material and the size of the ball as well as another model
uncertainty. Many authors prefer the fuzzy control like

1
[20], they proposed a hierarchical fuzzy control scheme
and then they proposed a genetic algorithm to adjust
 
Icdm
the output membership functions of the fuzzy planning M + 2 ẍ − M xθ̇x2 − M y θ̇x θ̇y − M G sin θx = 0 (4)
R
controller to optimize the ball’s moving trajectory. In [21]
and [9], the authors used a PD control with nonlinear
Icdm + M x2 θ̈x + 2M xẋθ̇x + M xy θ̈y + (M xẏ + M ẋy)θ̇y +


exact compensation for the cross-cupling synchronization
... + M Gx cos θx = τx
of two ball and beam systems, then a radial basis function (5)
neural network is applied to approximate the nonlinear
compensator. In this work the synchronization control can  
Icdm
be in parallel and serial forms and they discussed the M + 2 ÿ − M y θ̇y2 − M xθ̇x θ̇y − M G sin θy = 0 (6)
stability of the synchronization scheme. R

III. Modeling the Ball and Plate system

Icdm + M y 2 θ̈y + 2M y ẏ θ̇y + M xy θ̈x + (M xẏ + M ẋy)θ̇x +
... + M Gy cos θy = τy
(7)
where τx and τy are the torque applied to the plate.
 T
Consider the system state as q = x θx y θy y
q̇ T = ẋ θ̇x ẏ θ̇y , the regulation errors are:
 

Regulation error axis x:

x̄ = x∗ − x (8)

Fig. 1. ball and plate system Regulation error axis y:

ȳ = y ∗ − y (9)
For the ball and plate system described schematically in ∗ ∗
Fig. 1, a ball is placed on a roll over area of the plate. where x y y are the desired values. For the ball and
In the absence of friction or other disturbances, the plate system, in the balance position θx∗ = 0 ,θy∗ = 0, ẋ∗ =
T ∗
0 y ẏ ∗ = 0. Then q ∗ = x∗ 0 y ∗ 0 , x y y ∗ is the

dynamics of the ball and plate system can be obtained
by Lagrangian method [22]. desired ball position.
The kinetic energy of the system is: It is difficult to combine the dynamic equations of the
ball and plate system (4-7) with the PD control based
1 2 1 on the Direct Lyapunov method. Nevertheless, it is well
Ec = M vcdm + Icdm w2 (1)
2 2 known that we can prove the stability of robots with
PD control by the Lyapunov method. Consider this, the
transformation of the ball and plate system and its control
 
ẋ2 +ẏ 2
= 12 M (ẋ2 + ẏ 2 ) + 12 M (xθ̇x + y θ̇y )2 + 12 Icdm R +
law into a robot dynamics structure is developed, this
1
... + Icdm (θ̇x2 + θ̇y2 ) is possible due the ball and plate system has the same
2 properties of the robots.
(2)
where Ec is the kinetic energy of the ball; M is the mass The inertial matrix M (q), is given by:
of the ball; Icdm is the moment of inertia of the ball; R M + Icdm


R2 0 0 0
is the radio of the ball; (ẋ2 + ẏ 2 ) is the lineal velocity of  0 (I + M x 2
) 0
cdm
M xy

the ball; x and y are the position of the ball on plate; θx M + Icdm
 
 0 0 2 0 
R
and θy are angular position of the plate; w is the angular 0 M xy 0 (Icdm + M y 2 )
2 2
velocity of the ball; (θ˙x + θ˙y ) is the angular velocity of (10)
the plate. Then the coriolis matrix C(q, q̇),is given by:
On the other hand, potential energy of the ball due to
kdx −M xθ̇x 0 −M y θ̇x
 
the gravity by:  
 
 2M xθ̇x 0 0 (M x ẏ + M ẋy) 
Ep = −M G(x sin(θx ) + y sin(θy )) (3) 



 
where Ep is the potential energy of the ball; G is the 
 0 −M x θ̇ y kd y −M y θ̇ y


acceleration due to gravity.  
Then the whole ball and plate system is given by 0 (M xẏ + M ẋy) 2M y θ̇y 0
(4),(5),(6) and (7): (11)

2
 As we consider the entire ball and plate system coupled, PD Controller axis y:
the gravity matrix is:
uy = kpy (y ∗ − y) + kdy (y˙∗ − ẏ) (17)
 
M G sin θx
  As ẏ y ẏ ∗ = 0, so
 
 M Gx cos θx  uy = −kpy y − kdy ẏ (18)
 
G(q) =   (12)
The close-loop system is obtained by substituting the
 
 M G sin θy 
control voltage ux and uy from the control law (16) y
 
 
M Gy cos θy (18) respectively, into the whole ball and plate system
(4),(5),(6) and (7).
then the matrix B, is:
   
kpx 0 0 0 Icdm
M + 2 ẍ − M xθ̇x2 − M y θ̇x θ̇y − M G sin θx = 0 (19)



 R
 0 0 0 0 
 
B=  (13)

˙ y+

 0 0 kpy

0  Icdm + M x2 θ̈x + 2M xẋθ̇x + M xy θ̈y + (M xẏ + M ẋy)theta



 ... + M Gx cos θx = ux
(20)
0 0 0 0
and the compensators are: 
Icdm

M+ 2 ÿ − M y θ̇y2 − M xθ̇x θ̇y − M G sin θy = 0 (21)
R
 
πx
 
 
 0 

˙ x+
  Icdm + M y 2 θ̈y + 2M y ẏ θ̇y + M xy θ̈x + (M xẏ + M ẋy)theta
D=


 (14) ... + M Gy cos θy = uy
 πy 
  (22)
The stability of the closed loop system is presented in
 
0 the following theorem:
IV. Control design Theorem 4.1: Consider system (4-7) with the control
law (16) and (18) with two compensators:
A proportional derivative controller is adequate basic ( 1
term to obtain the desired response. With the propose of ((M G sin θx ) + 2M xθ̇x2 ) + 2M y θ̇y θ̇x
guarantee the stability of the closed loop system an exact πx = ẋ (23)
nonlinear compensator is included, Fig. 2 a diagram of this +(M Gx cos θx )θ̇x − 2M xθ̇x2 − 2M xθ̇y θ̇x
controller. and
 1 ((M G sin θ ) + 2M y θ̇2 ) + 2M xθ̇ θ̇

y y x y
πy = ẏ (24)
+(M Gy cos θ )θ̇ − 2M y θ̇2 − 2M y θ̇ θ̇
y y y x y

can guarantee stability of the ball and plate system (19-

22).
Proof: Because M (x) and B are positive definite matri-
ces, the following positive definite quadratic form is used
as Lyapunov function candidate:
Fig. 2. Nonlinear PD regulator for a ball and plate system
1 T 1
V (q, q̇) = q̇ M (q) q̇ + q̄ T B q̄ (25)
Two PD controllers are used, one of them for the close- 2 2
loop of the x-axis and the other one for the close loop of Differentiating (25) with respect to time,we have:
the y-axis. For the case of regulation ( x∗ , ẋ∗ , y ∗ , ẏ ∗ ) = 0.
1
PD Controller axis x: dV = q̇ T M (q) q̈ + q̇ T Ṁ (q) q̇ − q̇ T B q̄ (26)
2
ux = kpx (x∗ − x) + kdx (x˙∗ − ẋ) (15) As: M (q)q̈ + C(q, q̇)q̇ + G(q) = B q̄ + Dπ
∗
As ẋ y ẋ = 0, so where M (q)q̈ is,

ux = −kpx x − kdx ẋ (16) M (q)q̈ = B q̄ + Dπ − C(q, q̇)q̇ − G(q) (27)

3
Substituting equation (27) in (28):
1

1 ((M G sin θy ) + 2M y θ̇y2 ) + 2M xθ̇x θ̇y
dV = q̇ [B q̄ + Dπ − C(q, q̇)q̇ − G(q)]+ q̇ T Ṁ (q) q̇−q̇ T B q̄
T


ẏ

2 πy =
(28) 
 +(M Gy cos θy )θ̇y − 2M y θ̇y2 − 2M y θ̇x θ̇y
if ẏ 6= 0
 0 if ẏ = 0
1 (38)
= q̇ T B q̄+q̇ T Dπ−q̇ T C(q, q̇)q̇−q̇ T G(q)+ q̇ T Ṁ (q) q̇−q̇ T B q̄ can guarantee asymptotic stability of the ball and plate
2
(29) system (19-22).
Then we have:
V. Simulations
1 h i
= q̇ T [B q̄ + Dπ − G(q) − B q̄] + q̇ T Ṁ (q)q̇ − 2C(q, q̇) q̇ A. Simulation Phase: Mathematical modeling
2
(30) Before the control laws are applied to the real system,
Substituting (12) in −q̇ T G(q), we have: computer simulations was made. For this simulation
the model of the ball and plate system described by
−q̇ T G(q) = −[(M G sin θx )ẋ + (M Gx cos θx )θ̇x + (4-7) are used. These equations are necessary only for the
(31)
... + (M G sin θy )ẏ + (M Gy cos θy )θ̇y ] simulation results. For the real application aren’t required.
Substituting (14) in q̇ T Dπ, we obtain: Consider that the movement of the ball is slow and do
T
q̇ Dπ = ẋπx + ẏπy (32) not show tendency to slip (smooth bearing), due to the
slow speed and acceleration of the plate, the interaction
Finally, we obtain that: of the movements of the plate are uncoupled, Two PD
controllers are applied one for each axis.
V̇ = ẋπx + ẏπy − kdx ẋ2 − kdy ẏ 2 − (M G sin θx )ẋ− B. Simulation: Results
... − (M Gx cos θx )θ̇x − (M G sin θy )ẏ − (M Gy cos θy )θ̇y − Simulink is used to test the model (4-7), consider M =
... − 2M xẋθ̇x2 + 2M xθ̇x2 + 2M xθ̇y θ̇x − 2M y ẋθ̇y θ̇x − 0.11kg, R = 1.27cm and G = 9.81m/s2 . The results are in
... − 2M y ẏ θ̇y2 + 2M y θ̇y2 + 2M y θ̇x θ̇y − 2M xẏ θ̇x θ̇y Figs. 3 and 4 show a good behavior of our control system.
(33) Now, the controller is ready to be implement on the real
If we choose the compensator πx prototype.
( 1
((M G sin θx ) + 2M xθ̇x2 ) + 2M y θ̇y θ̇x
πx = ẋ (34)
+(M Gx cos θx )θ̇x − 2M xθ̇x2 − 2M xθ̇y θ̇x
and the compensator πy

 1 ((M G sin θ ) + 2M y θ̇2 ) + 2M xθ̇ θ̇


y y x y
πy = ẏ (35)
+(M Gy cos θ )θ̇ − 2M y θ̇2 − 2M y θ̇ θ̇
y y y x y

so

V̇ ≤ −kdx ẋ2 − kdy ẏ 2 (36)

Fig. 3. Simulations results; Velocity and displacement for x-axis

Since (kdx y kdy ) > 0, V̇ is a negative-semidefinite func-

tion. Therefore, by invoking the Lyapunov direct method, C. Implementation phase: Prototype
it can be concluded that (x θx y θy ) = (x∗ 0 y ∗ 0 ) Once the simulation were successful, the implementation
(ẋ∗ = 0, ẏ ∗ )is a stable equilibrium. of the ball and plate system was made.
Theorem 4.2: Consider system (4-7) with the control This system has two decoupled orthogonal axes with
law (16) and (18) with two compensators: one servomotor in each axe. These motors will provide
the movement to the plate. The main goal is carry the
1 ball to a desire position. The prototype has the following
 ((M G sin θx ) + 2M xθ̇x2 ) + 2M y θ̇y θ̇x components: the plate size is 50 x 50 cm, the ball with a
ẋ

πx = +(M Gx cos θx )θ̇x − 2M xθ̇x2 − 2M xθ̇y θ̇x if ẋ 6= 0 radius of 1.27 cm, a CMOS camera model MT9M011 used

0 if ẋ = 0 as a visual position sensor of the ball.

(37) With the mechatronic part of the prototype complete,
and Fig. 5 the design of Hardware components, was developed:

4
 data are digital.
D. Implementation phase: Results
The results presented in this section are only valid for
the configuration of the prototype presented in Fig. 1.
More details of the performance of our ball and plate
system are show in Figs. 7-10, where the position error,
the velocity and the control signal are presented. Figs. 7-
8 comes from the PD regulation without compensation
controller and Figs. 9-10 is for the PD regulation controller
with nonlinear exact compensation.
Fig. 4. Simulations results; Velocity and displacement for y-axis 0.3
Position error and Velocity in axis X
0.25 ex [m]
0.2 Vx [m/s]
0.15
0.1
0.05
0
−0.05
−0.1
−0.15
−0.2
−0.25
−0.3
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5 7 7.5 8
T ime [s]
Control signal in axis X
0.05
0.04
0.03
0.02

θ x [rad]
0.01
0
−0.01
−0.02
−0.03
−0.04
−0.05
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5 7 7.5 8
T ime [s]

Fig. 5. Block Diagram of our ball and plate system controlled via
PD regulation controller Fig. 7. Implementation results: Behavior of the error, velocity
and control signal in X-axis using PD regulation controller without
compensation

the computer vision system, the PD Controller. With the

computer vision component, the position (x,y) of the ball 0.3
Position error and Velocity in axis Y
0.25
on the plate is obtained, we able to process 16 images per 0.2
0.15
0.1
ey [m]
Vy [m/s]

0.05
second. The PD controller component includes the new 0
−0.05
−0.1
−0.15

control laws. Finally these outputs are the inputs to a −0.2

−0.25
−0.3
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5 7 7.5 8

component that generates the PWM signals for the motors T ime [s]
Control signal in axis Y
0.05

that moves the plate on x and y directions independently. 0.04

0.03
0.02
θ y [rad]

In order to obtain real-time operation all modules was 0.01

0
−0.01
−0.02

done in very high speed hardware description language −0.03

−0.04
−0.05

(VHDL) using Quartus II ver 7.2 and implemented in

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5 7 7.5 8
T ime [s]

Altera DE2 Development and education board with a

Fig. 8. Implementation results: Behavior of the error, velocity
Cyclone II FPGA. and control signal in Y-axis using PD regulation controller without
The ball and plate prototype is shown in Fig. 6. compensation

Position error and Velocity in axis X

0.3
0.25 ex [m]
0.2 Vx [m/s]
0.15
0.1
0.05
0
−0.05
−0.1
−0.15
−0.2
−0.25
−0.3
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5 7 7.5 8
T ime [s]
Control signal in axis X
0.05

Fig. 6. Ball and plate Prototype 0.04

0.03
0.02
θ x [rad]

0.01
0
−0.01
−0.02
For the mechanism of the ball and plate it was selected −0.03
−0.04
−0.05

servomotor as an actuator for its high torque and stability. 0 0.5 1 1.5 2 2.5 3 3.5 4
T ime [s]
4.5 5 5.5 6 6.5 7 7.5 8

The selected servomotor is the HS-805BB + MEGA 1 / 4

SCALE SERVO of the company Hitec RCD.
It was selected a camera for the sensor of the position
of the ball, it was utilized by the image sensor TRDB
card DC2 of Terasic company. The card sensor, reads the
image data in a progressive scan from left to right and
from top to bottom, these data are synchronized using a
25MHz clock signal (PIXCLK). As a CMOS sensor has
Integrated analog-digital converters, so that the output
Fig. 9. Implementation results: Behavior of the error, velocity
and control signal in X-axis using PD regulation controller with
compensation
The table I, shows the experiment results considering
many cases, the first concern was taken to observe the
behavior of the controller, was that the ball was located
and balanced at the center of the work area. There were
many situations in which it was tested the ball and plate

5
 Position error and Velocity in axis Y
0.3
0.25
0.2
0.15
ey [m]
Vy [m/s]
[2] J. Hauser, S. Sastry, P. Kokotovic, Nonlinear control via approx-
0.1
0.05
0
imate input-output linearization: the ball and beam example,
−0.05
−0.1
−0.15
IEEE transactions on Automatic control,Vol. 37(3), pp 392-398,
−0.2
−0.25
−0.3
1992.
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 6 6.5 7 7.5 8
T ime [s] [3] B.C. Chang, H. Kwatry, S. S. Hu, An application of robust feed-
Control signal in axis Y
0.05
0.04
back linearization to a ball and beam control problem, Proceed-
0.03
0.02 ings of the IEEE International Conference on control application
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0
−0.01
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−0.02
−0.03 [4] F. Andreev, D. Auckly, S. Gosavi, L. Kapitanski, A. Kelkar, W.
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Elsevier Automatica ,Vol. 38, pp 2147-2152, 2002.
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