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

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.

Automated summary

A robust tracking control method for swing-up and stabilization of a rotational inverted pendulum system is proposed in this paper, using equivalent input disturbance (EID) rejection. The system's mathematical model is developed using a Lagrangian equation. The EID observer is designed to estimate EID and the linear-quadratic regulator method is used for robustness, with closed-loop stability proven using Lyapunov theory and input-to-state stability. The proposed method's performance is validated through experimental results.