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

Author

Listed:
  • 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)

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.

Suggested Citation

  • Hojin Lee & Jeonghwan Gil & Sesun You & Yonghao Gui & Wonhee Kim, 2021. "Arm Angle Tracking Control with Pole Balancing Using Equivalent Input Disturbance Rejection for a Rotational Inverted Pendulum," Mathematics, MDPI, vol. 9(21), pages 1-16, October.
    • Handle: RePEc:gam:jmathe:v:9:y:2021:i:21:p:2745-:d:667676
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    References listed on IDEAS

    as
    1. Wonhee Kim & Sangmin Suh, 2020. "Optimal Disturbance Observer Design for High Tracking Performance in Motion Control Systems," Mathematics, MDPI, vol. 8(9), pages 1-18, September.
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    Cited by:

    1. Aravindh Dharmarajan & Parivallal Arumugam & Sakthivel Ramalingam & Kavikumar Ramasamy, 2023. "Equivalent-Input-Disturbance Based Robust Control Design for Fuzzy Semi-Markovian Jump Systems via the Proportional-Integral Observer Approach," Mathematics, MDPI, vol. 11(11), pages 1-16, June.
    2. Omer Saleem & Faisal Abbas & Jamshed Iqbal, 2023. "Complex Fractional-Order LQIR for Inverted-Pendulum-Type Robotic Mechanisms: Design and Experimental Validation," Mathematics, MDPI, vol. 11(4), pages 1-21, February.

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