Adaptive sliding mode control of ball and plate systems for its practical application

In this paper, an adaptive sliding mode controller is proposed, which is robust against external disturbances and parameter uncertainties. The proposed controller is designed to solve the trajectory tracking problem of ball and plate systems. Furthermore, it considers not just theoretical approach but practical approach. The external disturbances should be solved since there are various external disturbances in real systems such as circuit noise, mechanical vibration and so on. Another important issue for implementing the ball and beam system is an unknown parameter problem since the change of the ball weight should be considered. Therefore, an indirect adaptive sliding mode control technique is adopted to overcome both problems. Before the proposed controller is applied to the implemented ball and plate system, its stability analysis is performed by Lyapunov stability theory and some simulation verifies its performance.