A high-order ADRC scheme was proposed to deal with the unknown disturbance as well as the friction between the plate and the ball which affect the trajectory tracking accuracy in the ball and plate system. Firstly, the mathematical model of the ball and plate system was established and linear model was obtained by appropriately simplifying, linearization and decoupling. Secondly, the input signal with noise was filtered by the whole process fast differentiator. Thirdly, the high order ESO was designed to estimate the unknown disturbance inside the system. Finally, the nonlinear feedback controller was designed based on backstepping technique and the closed-loop stability is certificated by Lyapunov stability theory. Simulation results show that the improved high order ADRC can effectively filter out the noise and improve the trajectory tracking accuracy.