On stabilization and disturbance rejection for the inverted pendulum

The external disturbances together with endogenous unknown dynamics need to be concerned eternally in control problems. And the inverted pendulum problem is one of the most essential and classical problems in control engineering. In this paper, the cascaded linear Active Disturbance Rejection Control (ADRC) method is proposed to stabilize the pendulum around its unstable equilibrium and track the desired position with disturbance and measurement noise. Simulation results justify the effectiveness and robustness, and offer a better performance against external disturbances in comparison with the common PID & linear quadratic regulator (LQR) method.