Active Disturbance Rejection Control of the Inertia Wheel Pendulum through a Tangent Linearization Approach

  • Mario Ramírez-Neria
  • Hebertt Sira-Ramírez
  • Rubén Garrido-Moctezuma
  • Alberto Luviano-JuárezEmail author
Regular Papers Control Theory and Applications


A flatness based approach is proposed for the linear Active Disturbance Rejection Control (ADRC) stabilization of a nonlinear inertia wheel pendulum (IWP) around its unstable equilibrium point, subject to unmodelled dynamics and disturbances. The approach exploits the cascade structure, provided by the flatness property, of the tangent linearization of the underactuated system which allows designing a high gain linear cascaded Extended State Observer (ESO) of the Generalized Proportional Integral (GPI) type. This class of linear observers is employed to build an Active Disturbance Rejection Control controller with a lower order of complexity regarding other ADRC classic schemes. Experimental results demonstrate the effectiveness and feasibility of the proposed approach, as well as a better behavior with respect to a classic control technique in the presence of disturbances.


Active disturbance rejection extended state observers flat systems inertia wheel pendulum underactuated systems 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  • Mario Ramírez-Neria
    • 1
  • Hebertt Sira-Ramírez
    • 2
  • Rubén Garrido-Moctezuma
    • 3
  • Alberto Luviano-Juárez
    • 4
    Email author
  1. 1.Universidad Tecnológica de México - UNITEC MEXICO - Campus AtizapánBlvd. Calacoaya No.7 Col. La Ermita Atizapánde Zaragoza México C.P.México
  2. 2.Mechatronics Section of the Electrical Engineering Department of Cinvestav-IPN. Apartado postal 14740México City C.P.México
  3. 3.Departament of Cinvestav-IPNMéxico CityMexico C.P.México
  4. 4.Instituto Politécnico Nacional - UPIITA Av. IPN 2580 Col. Barrio La Laguna Ticomán Mexico CityMexico C.P.México

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