Proceedings of the 2015 International Conference on Automation, Mechanical Control and Computational Engineering

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

Authors
Limin Du, Fucheng Cao
Corresponding Author
Limin Du
Available Online April 2015.
DOI
https://doi.org/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.
Open Access
This is an open access article distributed under the CC BY-NC license.

Download article (PDF)

Proceedings
2015 International Conference on Automation, Mechanical Control and Computational Engineering
Part of series
Advances in Intelligent Systems Research
Publication Date
April 2015
ISBN
978-94-62520-64-6
ISSN
1951-6851
DOI
https://doi.org/10.2991/amcce-15.2015.38How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

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  - 2015 International Conference on Automation, Mechanical Control and Computational Engineering
PB  - Atlantis Press
SN  - 1951-6851
UR  - https://doi.org/10.2991/amcce-15.2015.38
DO  - https://doi.org/10.2991/amcce-15.2015.38
ID  - Du2015/04
ER  -