A largely model independent solution for the position control of a typical inverted pendulum system

An Active Disturbance Rejection based solution is proposed for the position control of a standard inverted pendulum system, demonstrating a largely model independent design that is distinctly different from existing model-based designs from classical as well as modern control theory. The quality of the control loop is further improved with a unique double disturbance observer design, which rejects independently the disturbance and uncertainty in both the pendulum itself and the cart that carries it. This proposed approach offers a promising and practical solution because it´s intuitive to understand and easy to tune, in addition to its strong performance and effectiveness shown in both simulation study and real time experimentation.