Active disturbance rejection controller scheme for the linear inverted pendulum
直线型倒立摆的自抗扰控制设计方案

The controller design of the linear inverted pendulum is studied,by using the scheme of active disturbance rejection controller (ADRC). For such a single-input-two-output unstable system with strong nonlinearity and strong coupling,the control scheme was accomplished by adding a tracking differentiator and the feedback control law comprised of the errors of the two controlled variables,instead of the only one in the usual ADRC scheme. This method expanded the range that the ADRC scheme can deal with. The simulation results showed that the departed angle of the pendulum and the displacement of the cart were well controlled.