首页|On stability analysis of nonlinear ADRC-based control system with application to inverted pendulum problems
On stability analysis of nonlinear ADRC-based control system with application to inverted pendulum problems
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This paper mainly focuses on stability analysis of the nonlinear active disturbance rejection control(ADRC)-based control system and its applicability to real world engineering problems.Firstly,the nonlinear ADRC(NLADRC)-based control system is transformed into a multi-input multi-output(MIMO)Lurie-like system,then sufficient condition for absolute stability based on linear matrix inequality(LMI)is proposed.Since the absolute stability is a kind of global stability,Lyapunov stability is further considered.The local asymptotical stability can be deter-mined by whether a matrix is Hurwitz or not.Using the inverted pendulum as an example,the proposed methods are verified by simulation and experiment,which show the valuable guidance for engineers to design and analyze the NL ADRC-based control system.
active disturbance rejection control(ADRC)stabi-lity analysislinear matrix inequality(LMI)inverted pendulum system
LI Jie、XIA Yuanqing
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School of Automation,Beijing Institute of Technology,Beijing 100081,China
Intelligent Multi-source Sensing and Fusion Innovation Research Center,Yangtze Delta Region Academy of Beijing Institute of Technology,Jiaxing 314019,China
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