Dynamic output-feedback ?∞ control design for ball and plate system

Ball and plate system is a nonlinear and unstable system, thus introducing great challenges tocontrol scientists and it resembles many complicated real-time systems in several perspectives.There has been a good number of efforts to design a stabilizing controller for this system. Thispaper presents a dynamic output-feedback ?∞ control strategy for the plate and ball systembased on the solution of linear matrix inequalities (LMIs). The discussion involves derivingthe equations of motion of the system by using the Lagrange method, linearizing the nonlinearequations, and designing an ?∞ controller to achieve required tracking specifications on theposition of the ball. The intent is to show the specified trajectory tracking performanceoutcomes in time domain via simulation studies conducted using MATLAB/Simulink. Acircular and square trajectory following of the designed controller is compared with a baselinePID controller. It is revealed that the proposed controller exhibits an improved trackingperformance to following the reference trajectories.

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