On the linear active disturbance rejection control of the Furuta pendulum

This article studies, an Active Disturbance Rejection Control scheme, using a Generalized PI disturbance observer based control applied to the stabilization problem of the Furuta pendulum. The control scheme assumes a limited knowledge of the system and uses a simplified model of the Furuta pendulum modeled as a disturbed chain of two integrators. The control scheme is experimentally tested, showing good performance. A comparison study with respect to a linear control scheme is also carried out.