State Feedback Control for Stabilization of the Ball and Plate System

This work investigates the stabilization problem of the ball and plate system. Without simplifying the system model, the input-output linearization is firstly applied to the controller design of the ball and plate system. A smart output, containing the position states, velocities and angle, is constructed followed by the stability analysis of zero dynamics. Then, a nonlinear control law is proposed using feedback linearization, and is proved to be capable of regulating the states of system to zero asymptotically. The advantageous of the proposed control scheme lies in that the controller parameters can be easily chosen, and hence the control scheme can also be easily implemented. A simulation example illustrates the effectiveness of the proposed strategy.