Comparative study of linear and nonlinear ADRC for an inverted pendulum

This paper applies ADRC algorithm to the inverted pendulum stabilization problem. Since the extended state observer and control law can be nonlinear or linear, different combinations are designed to balance the pendulum's angle. It also offers a practical solution that the nonlinear parameters are tuned as the linear ones. The output response speed and control variable are compromised to determine the preferable structure. Simulations showed that ADRC has good performance on stability, anti-interference and robustness.