Arm Angle Tracking Control with Pole Balancing Using Equivalent Input Disturbance Rejection for a Rotational Inverted Pendulum

Hojin Lee, Jeonghwan Gil, Sesun You, Yonghao Gui and Wonhee Kim
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Hojin Lee: School of Energy Systems Engineering, Chung Ang University, Seoul 06974, Korea
Jeonghwan Gil: Department of Energy Systems Engineering, Chung Ang University, Seoul 06974, Korea
Sesun You: Department of Energy Systems Engineering, Chung Ang University, Seoul 06974, Korea
Yonghao Gui: Department of Electronic Systems, Aalborg University, 9220 Aalborg East, Denmark
Wonhee Kim: Department of Energy Systems Engineering, Chung Ang University, Seoul 06974, Korea

Mathematics, 2021, vol. 9, issue 21, 1-16

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.

Keywords: balancing control; equivalent input disturbance; linear-quadratic regulator; position tracking; desired state dynamics (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2021
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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