Optimal Robust Controller Design for the Ball and Plate System

The problem of controlling an open-loop unstable system presents many unique and interesting challenges and ball and plate system is a specific example for these kinds of systems. The ball and plate system is an inherently nonlinear and under actuated system. This paper proposes an optimal robust controller design via H-infinity approach. Simulation results show that the proposed controller has strong robustness and satisfactory and eliminate the effect of linearization problems, unknown external disturbances and time-varying uncertain friction while the ball is rolling on the plate surface, thus the trajectory tracking precision is improved.