Trajectory tracking control of ball and plate system based on auto-disturbance rejection controller

In this paper a novel control strategy, the active disturbance rejection control (ADRC) is applied to the trajectory tracking design of ball and plate system. In the ADRC framework, the disturbance and coupling are treated as an additional state variable, which is then estimated and compensated for in real time. In addition, the using of a new nonlinear state error feedback control law in the ADRC reduces the number of parameters. The result of simulation and experiments indicate the proposed scheme have better dynamic, robust characteristics and perfect trajectory tracking effect.