A robust output regulation approach for trajectory tracking control of ball and plate system

The ball and plate system is a well-known multi-input, multi-output system with high nonlinearity, which poses great challenge to its trajectory tracking control problem. This paper aims to design a robust controller for the ball and plate system to achieve trajectory tracking control with time-varying reference signals. Based on output regulation theory, the trajectory tracking control problem of the ball and plate system is firstly formulated as an approximate robust output regulation problem. Then a third-order robust controller is designed to realize accurate trajectory tracking control, which allows all the system parameters to be unknown. Finally, the simulation results verify the effectiveness of our design.