An active disturbance rejection controller design for ball and plate system

Ball and plate system is a multivariable system with inherent nonlinearity. It is a two-dimensional extension of the classic ball and beam system. In this paper, the idea of Active Disturbance Rejection Control (ADRC) is introduced. The extended state observer (ESO) is applied to estimate the disturbance including nonlinearity and the friction. Then, the disturbance estimated can be eliminated from the control. For the sake of reducing the impact of the measurement noise, the Fal function filter is applied to filter the output of the system with measurement noise. Meanwhile, the feedforward compensator is designed to reduce the error of the system. In the end, the simulations of the set-point experiments and the circle trajectory tracking experiments are completed. The simulation results show that the ADRC controller combined with a feedforward compensator performances better.