Double Loop DR-PID Control of A Rotary Inverted Pendulum

A double-loop disturbance rejection proportional-integral-derivative (DR-PID) scheme is proposed in this paper for a rotary inverted pendulum. Firstly, we build the plant model for the rotary inverted pendulum and make linearization. Then, state reconstruction is proposed based on the linearized model such that a double-loop DR-PID control structure is designed for the system. The experiments are carried on based on a embedded real-time hardware-in-loop (HIL) platform Sukung. Convincing experimental results, including a comparative test with a LQR controller, are presented at last, which show that the conrol scheme has an excellent performance on stability and disturbance-rejection.