Model Reference Adaptive Control for Ball-and-Plate System

This work addresses the problem of controlling the ball-and-plate system using the model reference adaptive control technique. This approach uses state feedback with adaptive parameters to control the ball’s position on the plate. The adaptive law is designed using the Lyapunov approach and a pole-placement-based reference model. Using this model, the reference signal, and the system measurements, it is possible to adapt the control parameters online to achieve the asymptotic convergence of the system states to the reference model states. The proposed controller is tested in Matlab/Simulink, where the good performance of the proposed control scheme is shown.