The ball and plate system consist of a ball that is free to roll over a rigid plate. The position of the ball over the plate can be controlled by manipulation the inclination angles of the plate. This is a non-linear, multi-variable and open-loop unstable system which presents challenging problems, such as: 1) point stabilization control, to carry the ball to a specific position and hold it there, and 2) trajectory tracking control, in which the goal is to make the ball follows a predefined geometric trajectory minimizing the tracking error.