Educational model of unstable MIMO system

Abstract

This paper presents extensions for educational Ball & Plate model CE151 from Humusoft. Its purpose is to offer students a complex view on the issues with designing controllers for real systems as a real engineering problem. Students can design their own controllers and directly implement them to provided Simulink structure, which can be examined by them to better understand concepts of real plant control. A graphical user interface was also designed to quickly access important data and choose the reference value. As an example a linear quadratic (LQ) digital controller is also presented. It is designed for 2DOF controller structure and accordingly tested.