Tracking control of a ball on plate system using PID controller and Lead/Lag compensator with a double loop feedback scheme

Nowadays, technology is in continuous evolution, movement and balance control are full expansion (humanoid robots, drones parallel robots). The difficulty that robotics software developers often facing maintaining stability balance, a robot loses its an instant threat to environment, therefore, the ball on plate system best method test performance of controller ensure given system. This platform upgraded version beam system, it multivariable nonlinear which has underactuated feature makes one most complicated systems terms control, requiring reliable, efficient fast controllers meet end goal this task. In work, two types for stabilization, classical PID Lead / Lag compensator double loop feedback scheme, were presented order achieve precise response with minimal tracking error. Finally, comparison results obtained by these techniques was made revealed superiority dealing kind