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.


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    Title :

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


    Contributors:
    Lee, Hojin (author) / Gil, Jeonghwan (author) / You, Sesun (author) / Gui, Yonghao (author) / Kim, Wonhee (author)

    Publication date :

    2021-10-29


    Remarks:

    Lee , H , Gil , J , You , S , Gui , Y & Kim , W 2021 , ' Arm Angle Tracking Control with Pole Balancing Using Equivalent Input Disturbance Rejection for a Rotational Inverted Pendulum ' , Mathematics , vol. 9 , no. 21 , 2745 . https://doi.org/10.3390/math9212745



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629