Inverted Pendulum Balance Control Based on Improved Active Disturbance Rejection Control

In order to further improve the high-precision balance control of linear single-stage inverted pendulum, a new control method of improved active disturbance rejection control (ADRC) is designed in this paper. Firstly, a new nonlinear function with better smoothness and convergence is designed. Based on this nonlinear function, an improved extended state observer (ESO) for linear single-stage inverted pendulum system is designed, which has better following error capability. Then,two linear tracking differentiators (TD) are applied to obtain the given displacement and velocity, as well as the displacement and velocity of the trolley, and the nonlinear state error feedback (NLSEF) control rate is changed to a linear control rate,the aim is to control the trolley displacement and the angle of the pendulum rod simultaneously. Finally, it is verified by simulation that based on the improved ADRC, the attitude control of the inverted pendulum can be realized quickly and stably.