Nonlinear Controller Design of the Inverted Pendulum System based on Extended State Observer

DOI

10.2991/amcce-15.2015.38How to use a DOI?

Keywords

inverted pendulum system; nonlinear controller; linear extended state observer; disturbance

Abstract

Inverted pendulum system is a kind of widely used physical model. In this paper, we present a nonlinear control scheme of single inverted pendulum system based on extended state observer. First, we establish the dynamic equations of inverted pendulum under a generic horizontal force and then linearize the inverted pendulum around the unstable upright position. Second, linear extended state observer is designed, which can observe the uncertain part of the system and various disturbances. Third, nonlinear feedback controller is designed so that the system has a stronger disturbance rejection capability. The experimental results show that the nonlinear control method based on extended state observer is effective. Because the designed control algorithm is simple, the parameters are easy to be tuning, and control effect is good, it has important reference value for similar control system with the inverted pendulum.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Limin Du
AU  - Fucheng Cao
PY  - 2015/04
DA  - 2015/04
TI  - Nonlinear Controller Design of the Inverted Pendulum System based on Extended State Observer
BT  - Proceedings of the 2015 International Conference on Automation, Mechanical Control and Computational Engineering
PB  - Atlantis Press
SP  - 209
EP  - 214
SN  - 1951-6851
UR  - https://doi.org/10.2991/amcce-15.2015.38
DO  - 10.2991/amcce-15.2015.38
ID  - Du2015/04
ER  -