On Stability Analysis of Nonlinear ADRC-Based Control System with Application to Inverted Pendulum Problems

被引：1

作者：

Li, Jie ^{[1
]}

Xia, Yuanqing ^{[2
]}

机构：

[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China

[2] Yangtze Delta Reg Acad, Beijing Inst Technol, Intelligent Multisource Sensing & Fus Innovat Res, Jiaxing 314019, Peoples R China

来源：

JOURNAL OF SYSTEMS ENGINEERING AND ELECTRONICS | 2024年 / 35卷 / 06期

基金：

中国国家自然科学基金;

关键词：

Stability analysis; Control systems; Asymptotic stability; Linear matrix inequalities; Lyapunov methods; Switches; Sufficient conditions; active disturbance rejection control (ADRC); stability analysis; linear matrix inequality (LMI); inverted pendulum system; DISTURBANCE REJECTION CONTROL; EXTENDED STATE OBSERVER; CONVERGENCE; CRITERION;

D O I：

10.23919/JSEE.2024.000077

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：1563 / 1573

页数：11

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