Position control of a two degrees of freedom stabilization platform

In this study, position control of a two degrees of freedom stabilization platformwith hydraulic pistons has been examined and the upper table of the system hasbeen expected to be stabilized against environmental movements. State feedbackand PID control methods have been tested on the system and results werecompared. Linearized model of the system that has been modeled in Matlab®Simulink was found by updating the equations around the working point.Angular deviation and settling time were found less than 0,003 rad and 0,5 s forboth degree of freedoms. It was observed that updating operation causes noiseat valve response in PID control and rising of updating interval causes thesystem time response getting worse. Finally it has been found that because of thenoise effect of linearizing operation with updating interval, state feedback leadsto better results according to the valve input signal, when compared with PIDcontrol.Key Words : Stabilization, position control