Nonlinear control for output regulation of ball and plate system

This paper proposes nonlinear control methods for output regulation of ball and plate system. Positions of the ball are regulated with double feedback loops. Recursive backstepping design is employed for the external feedback loop, while switching control scheme is used in the inner feedback loop. System performance was tuned by backstepping parameters. Simulation results show that the proposed nonlinear control works wells in both stabilization and tracking control. Asymptotical stabilities are also achieved under unknown external disturbance in the experiments.