LINEAR QUADRATIC GAUSSIAN (LQG) CONTROL DESIGN FOR THE BALL- ON-SPHERE SYSTEM

Authors

  • E. K. Ukiwe Department of Elect. & Elect. Engineering, Nile University, Abuja
  • S. U. Hussein Department of Elect. & Elect. Engineering, Nile University, Abuja
  • O. Oshiga Department of Elect. & Elect. Engineering, Nile University, Abuja

Keywords:

Ball on Sphere system, Linear Quadratic Gaussian, Linear Quadratic Regulator, Kalman Estimator, Degrees of Freedom.

Abstract

This paper is geared towards controlling the Ball on Sphere (BOS) system by adopting the
model developed in similar research for the ball on ball system and modified for control of
the ball on sphere system however implemented using Linear Quadratic Gaussian (LQG)
Control scheme. The linearized model for controlling a BOS system was adopted and
configured. These configurations were then used to compute the state and input matrices
taking consideration of the covariance Gaussian white noise elements and other
parameters like the Kalman filter to create the Linear Quadratic Gaussian (LQG)
controller. The result was simulated with MATLAB 2019b application which indicates that
the BOS system is controllable, observable and stable. The paper assumes that the ball is
always in direct contact with the sphere and that there is no translational motion between
the ball and the sphere.

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Published

2020-03-27

Issue

Vol. 9 No. 1 (2020)

Section

Articles