Backstepping-based Robust H∞ Tracking Controller Design for Ball and Plate System

An H
_∞
tracking control method is proposed for ball and plate systems with external disturbances. The H
_∞
tracking controller for a ball and plate system is designed by combining H
_∞
control theory with backstepping technique. The designed controller can ensure that the ball and plate system can track precisely the desired trajectories, all the signals in the closed-loop system are asymptotically stable, and the system has robust H
_∞
disturbance attenuation performance for external disturbances. In the end, a simulation experiment is given to prove the feasibility of the proposed control method.