Arm angle tracking control with pole balancing using equivalent input disturbance rejection for a rotational inverted pendulum
- Authors
- Lee, H.; Gil, J.; You, S.; Gui, Y.; Kim, W.
- Issue Date
- Nov-2021
- Publisher
- MDPI
- Keywords
- Balancing control; Desired state dynamics; Equivalent input disturbance; Linear-quadratic regulator; Position tracking
- Citation
- Mathematics, v.9, no.21
- Journal Title
- Mathematics
- Volume
- 9
- Number
- 21
- URI
- https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/51941
- DOI
- 10.3390/math9212745
- ISSN
- 2227-7390
2227-7390
- Abstract
- This paper proposes a robust tracking control method for swing-up and stabilization of a rotational inverted pendulum system by applying equivalent input disturbance (EID) rejection. The mathematical model of the system was developed by using a Lagrangian equation. Then, the EID, including external disturbances and parameter uncertainties, was defined; and the EID observer was designed to estimate EID using the state observer dynamics and a low-pass filter. For robustness, the linear-quadratic regulator method is used with EID rejection. The closed-loop stability is proven herein using the Lyapunov theory and input-to-state stability. The performance of the proposed method is validated and verified via experimental results. © 2021 by the authors. Licensee MDPI, Basel, Switzerland.
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Collections - College of Engineering > School of Energy System Engineering > 1. Journal Articles
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