Portal de Periódicos da CAPES

Virtual and Remote Laboratory with the Ball and Plate System

2017; Elsevier BV; Volume: 50; Issue: 1 Linguagem: Inglês

10.1016/j.ifacol.2017.08.1716

2405-8971

Ernesto Fábregas, S. Dormido-Canto, S. Dormido,

Iterative Learning Control Systems

This paper presents a virtual and remote laboratory of the ball and plate system with augmented reality. The ball and plate is a non-linear, multi-variable and open-loop unstable system. Due to its inherent complexity, presents challenging problems, such as: 1) point stabilization control, to carry the ball to a specific position and hold it there, and 2) trajectory tracking control, in which the goal is to make the ball follows a predefined geometric trajectory (square and circle) minimizing the tracking error. The laboratory is composed by two parts: 1) a virtual laboratory developed in Easy Java Simulations (EJS), which is a 3D interactive simulation of the system; 2) a remote laboratory (developed with EJS and LabVIEW) to connect via Internet to a pilot plant of the system, situated in the laboratory. This laboratory is used in the Systems and Control Engineering Master Program offered by Universidad Nacional de Educacion a Distancia and Universidad Complutense de Madrid.