The self-disturbance rejection technology is a process-based control algorithm that has the advantages of the PID algorithm. At the same time, it can compensate for system uncertainties and external disturbances, making the object highly robust and resistant to interference. The inverted pendulum system is a typical nonlinear, multivariable, absolutely unstable non-minimum phase control object, so it is an experimental platform for verifying the effectiveness of various control algorithms. The self-disturbance rejection control technology is used to design a simple implementation algorithm, and the inverted pendulum system is used to verify it. The simulation results show the effectiveness of the algorithm.
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