Diseño e implementación de una plataforma bola y plato, para la aplicación de técnicas de control PID y LQR

Abstract

In this degree work design and building a ball platform and plate with two degrees of freedom which is the united nations system nonlinear and multivariable, were planted in this real plant you can apply techniques PID control and LQR , since paragraph most of these alone systems are carried out in simulated under ideal conditions environments. The design of the controllers is made from the selection sensing system for ball position , actuators and analysis dynamics shaping plant reaching do mathematician, and a user interface of a through Image processing with able to locate in the sphere various points within the bowl or follow a path develops Webcam.