Control implementation of a magnetic actuating ball and plate system

A ball and plate system is constructed using magnetic suspension actuators on two axes for three degrees of freedom control. System characteristic in mathematical model for control is formulated using the backstepping control theory. According to the backstepping control design procedure, the proposed controller is fabricated on a single-chip microprocessor as control kernel and tested with supporting electronic circuits. Several scenarios of dynamic operation such as oscillatory stabilization and circular trajectory tracking are tested to verify the proposed system performance and capability.