H∞ controller design for a ball and plate system using normalized coprime factors

In this paper, we discuss how to synthesize a stabilizably robust controller for a ball and plate system (BPS). In order to reduce the fragility in its robust controller synthesis, a loop-shaping method in terms of a normalized right coprime factor (NRCF) uncertainty description for the BPS is thus employed. In effect, the design of weighting functions for… (More)