I-PD controller design based on generalized KYP lemma for ball and plate system

A ball-on-plate balancing system, the ball and plate, has a camera to catch a ball position and a plate whose angle of inclination is limited. This paper proposes a design method of PID control based on the generalized Kalman-Yakubovich-Popov lemma for the ball and plate. The design method has two features: the first one is that a structure of the controller is called I-PD to suppress a large input signal against a major change of the reference signal; the second one is that a filter is introduced into the feedback loop to reduce an influence of the noise measurement from the camera. Both simulation and experiment evaluate the effectiveness of the design method.