Tracking Control of Ball and Plate System with a Double Feedback Loop Structure

This paper proposes a double feedback loop structure for tracking control of the ball and plate system on the experimental platform BPVS-JLU I. The ball and plate system BPVS-JLU I is introduced and its mathematical model is presented. A single input rule modules fuzzy logic controller with dynamic importance degree is utilized in the external loop, while a switching servo controller is used in the inner loop. Experiments have proved that tracking controller with a double feedback loop structure does stabilize the ball and plate system. When given trajectory is a circle with radius 150 (mm) and the desired ball tracking velocity is 3 (mm/s), average position tracking error is 10.761 (mm).