The ball-on-plate balancing system has a camera that captures the ball position and a plate whose inclination angles are limited. This paper proposes a PID controller design method for the ball and plate system based on the generalized Kalman-Yakubovich-Popov lemma. The design method has two features: first, the structure of the controller called I-PD prevents large input signals against major changes in the reference signal; second, a low-pass filter is introduced into the feedback loop to reduce the influence of the measurement noise produced by the camera. Both simulations and experiments are used to evaluate the effectiveness of the design method.
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