Arm Angle Tracking Control with Pole Balancing Using Equivalent Input Disturbance Rejection for a Rotational Inverted Pendulum

This paper proposes a robust tracking control method for swing-up and stabilization of rotational inverted pendulum system by applying equivalent input disturbance (EID) rejection. The mathematical model the was developed using Lagrangian equation. Then, EID, including external disturbances parameter uncertainties, defined; EID observer designed to estimate state dynamics low-pass filter. For robustness, linear-quadratic regulator is used with closed-loop stability proven herein Lyapunov theory input-to-state stability. performance proposed validated verified via experimental results.