DefinePK

Abstract

This paper describes the design and implementation of a PID controller applied to the Ball and Plate CE 151 system. The design technique used is Root Locus Method in discrete time and the controller is implemented in MatLab. Because the system has an unstable dynamic, multiple PID controllers were designed for different operating points and using the Root Mean Square Error (RMSE), the best PID controller is selected. This controller is subjected to other performance tests such as, reference tracking, disturbance rejection and robustness test to observe the behavior of the controller.