Research on Nonlinear Ball-plate System Based on LTR Method

This paper presents a novel nonlinear LTR control strategy for Ball-plate control system model with typical nonlinear characteristics. For the nonlinear process, the extended Kalman filter is first introduced to estimate the states of the system accurately, and then the method of solving the Jacobian matrix and the Riccati equation in real time is used to obtain the optimal feedback gain matrix at the current moment. Finally, the principle of loop transfer function recovery is used to improve the performance of the system. The simulation results show that the control strategy obviously reduces the overshoot of the system and shortens the adjustment time.