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

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...

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Autores principales: Hojin Lee, Jeonghwan Gil, Sesun You, Yonghao Gui, Wonhee Kim
Formato: article
Lenguaje:EN
Publicado: MDPI AG 2021
Materias:
balancing control
equivalent input disturbance
linear-quadratic regulator
position tracking
desired state dynamics
Mathematics
QA1-939
Acceso en línea:https://doaj.org/article/6e955d9c65ff4274a0716131522b3a55
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https://doaj.org/article/6e955d9c65ff4274a0716131522b3a55

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