Zero Steady-state Error Tracking Control for Ball and Plate System Based on Principle of Internal Model

In order to improve trajectory tracking accuracy and disturbance-rejection performance of the ball and plate system, a zero steady-state error tracking control strategy based on the principle of internal mode was proposed, and the backstepping controller with a low-pass filter was designed to suppress the system’s internal disturbance. Firstly, a linear model of the ball and plate system is established and the common instability model for reference input and disturbance signals is derived. Secondly, the zero steady-state error tracking control strategy composed of three controllers which have respective function is proposed. Thirdly, the solving procedure of each controller is given and the stability of the closed-loop system is guaranteed by Lyapunov stability theory. Finally, simulation results show the presented control scheme has better dynamic performance and disturbance rejection ability, compared with other methods including H∞ control, sliding mode control, and LQR control.