Active Disturbance Rejection Control(ADRC) design for an Inverted Pendulum system and LFC of single area power system.

Abstract

We know that the inverted pendulum system is nonlinear, unstable, and non minimum phase, so it is the most suitable controller testing system for modern and classical control theory. Here we design control for this system(invert pendulum) using non-linear control law and an ESO. Firstly, we form the invert pendulum system dynamics equations with a general force in horizontal direction and after that linearized this system about the equilibrium position(vertical position) which is unstable. Secondly, to observe the system's uncertain part and various Disturbances, a linear extended state observer is designed. In the third step, a nonlinear feedback controller is designed to have a more substantial capacity for rejecting disturbance. Simulation result gives the idea that non-linear control scheme with an ESO is beneficial. Since the control we have design is easy, variables can tuned comfortably, also an excellent control outcomes are obtained.