On Stability Analysis of Nonlinear ADRC-Based Control System with Application to Inverted Pendulum Problems
Year: 2024
Type: article
Abstract: 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 determined 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.
Authors: Jie Li, Yuanqing Xia
Institution: Beijing Institute of Technology
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W4402626964