{"id":"https://openalex.org/W2887640056","doi":"https://doi.org/10.23919/acc.2018.8431712","title":"Trajectory Tracking for an Inverted Pendulum on a Cart: An Active Disturbance Rejection Control Approach","display_name":"Trajectory Tracking for an Inverted Pendulum on a Cart: An Active Disturbance Rejection Control Approach","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2887640056","doi":"https://doi.org/10.23919/acc.2018.8431712","mag":"2887640056"},"language":"en","primary_location":{"id":"doi:10.23919/acc.2018.8431712","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2018.8431712","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 Annual American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024323175","display_name":"Mario Ram\u00edrez\u2010Neria","orcid":"https://orcid.org/0000-0001-5935-9083"},"institutions":[{"id":"https://openalex.org/I4210146565","display_name":"Polytechnic University of the Valley of Mexico","ror":"https://ror.org/05gjd9170","country_code":"MX","type":"education","lineage":["https://openalex.org/I4210146565"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"M. Ramirez-Neria","raw_affiliation_strings":["Mechatronics Departament, Universidad Politecnica del Valle de Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics Departament, Universidad Politecnica del Valle de Mexico","institution_ids":["https://openalex.org/I4210146565"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102994363","display_name":"Zhiqiang Gao","orcid":"https://orcid.org/0000-0003-1917-8311"},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Z. Gao","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Cleveland State University, Cleveland, Ohio, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Cleveland State University, Cleveland, Ohio, USA","institution_ids":["https://openalex.org/I102607778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063782677","display_name":"H. Sira\u2010Ram\u00edrez","orcid":"https://orcid.org/0000-0003-0118-4764"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]},{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"H. Sira-Ramirez","raw_affiliation_strings":["Mechatronics Section of the Electrical Engineering, Department of Cinvestav-IPN, M\u00e9xico City C.P"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechatronics Section of the Electrical Engineering, Department of Cinvestav-IPN, M\u00e9xico City C.P","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046729619","display_name":"R. Garrido","orcid":"https://orcid.org/0000-0002-6227-2779"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]},{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"R. Garrido-Moctezuma","raw_affiliation_strings":["Automatic Control Departament of Cinvestav-IPN, M\u00e9xico City C.P"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automatic Control Departament of Cinvestav-IPN, M\u00e9xico City C.P","institution_ids":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011197437","display_name":"Alberto Luviano\u2010Ju\u00e1rez","orcid":"https://orcid.org/0000-0001-8790-4165"},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"A. Luviano-Juarez","raw_affiliation_strings":["UPIITA-IPN, Mexico City"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UPIITA-IPN, Mexico City","institution_ids":["https://openalex.org/I59361560"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4881","last_page":"4886"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8870852589607239},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.8780728578567505},{"id":"https://openalex.org/keywords/active-disturbance-rejection-control","display_name":"Active disturbance rejection control","score":0.8284620046615601},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6562472581863403},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.6371487379074097},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.5826232433319092},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5076299905776978},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.5068519711494446},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4953955411911011},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4736325144767761},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.444757878780365},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32764458656311035},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3274662494659424},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.30845892429351807},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2600878179073334},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22825726866722107},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.12325242161750793},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12289571762084961},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12248262763023376}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8870852589607239},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8780728578567505},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.8284620046615601},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6562472581863403},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.6371487379074097},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.5826232433319092},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5076299905776978},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.5068519711494446},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4953955411911011},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4736325144767761},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.444757878780365},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32764458656311035},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3274662494659424},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.30845892429351807},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2600878179073334},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22825726866722107},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.12325242161750793},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12289571762084961},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12248262763023376},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc.2018.8431712","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc.2018.8431712","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 Annual American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W48920821","https://openalex.org/W1559327333","https://openalex.org/W1599238201","https://openalex.org/W1619551699","https://openalex.org/W1974845375","https://openalex.org/W1991936423","https://openalex.org/W2027960264","https://openalex.org/W2030766545","https://openalex.org/W2046711285","https://openalex.org/W2049176666","https://openalex.org/W2075634845","https://openalex.org/W2103983363","https://openalex.org/W2123247915","https://openalex.org/W2128592712","https://openalex.org/W2135493101","https://openalex.org/W2137983719","https://openalex.org/W2146416655","https://openalex.org/W2182681679","https://openalex.org/W2332086642","https://openalex.org/W2499948779","https://openalex.org/W2535327767","https://openalex.org/W3197061749","https://openalex.org/W6678399066","https://openalex.org/W6680176127"],"related_works":["https://openalex.org/W2349527210","https://openalex.org/W1998462347","https://openalex.org/W1836713364","https://openalex.org/W2612646280","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2964841342","https://openalex.org/W4300511988","https://openalex.org/W130230158","https://openalex.org/W2165424018"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"an":[3,99,112],"Active":[4],"Disturbance":[5],"Rejection":[6],"Control":[7],"(ADRC)":[8],"scheme":[9,126],"is":[10],"tested":[11],"on":[12,31,82,117],"a":[13,32,39,74,118],"non-differentially":[14],"flat":[15],"system,":[16],"with":[17,127],"controllable":[18],"linearization,":[19],"to":[20,37,108,122],"solve":[21],"the":[22,28,45,49,53,61,78,109,124,131],"problem":[23],"of":[24,67,77,133],"trajectory":[25,46],"tracking":[26,47],"for":[27,48,111],"inverted":[29,54],"pendulum":[30,55],"cart.":[33],"Differential":[34],"Flatness":[35],"allows":[36],"design":[38],"control":[40,89],"law":[41],"that":[42,57],"simultaneously":[43],"achieves":[44],"cart":[50],"while":[51],"regulating":[52],"so":[56],"it":[58],"remains":[59],"near":[60],"unstable":[62],"equilibrium":[63],"point":[64],"in":[65,130],"spite":[66],"large":[68],"perturbations.":[69],"The":[70],"proposed":[71,125],"method":[72],"assumes":[73],"limited":[75],"knowledge":[76],"system":[79],"and":[80,92],"relies":[81],"linear":[83,87],"disturbance":[84,94,114],"observation":[85],"using":[86],"feedback":[88],"techniques.":[90],"Internal":[91],"external":[93,134],"inputs":[95],"are":[96],"estimated":[97],"by":[98],"Extended":[100],"State":[101],"Observers":[102],"(ESO),":[103],"which":[104],"delivers":[105],"these":[106],"estimates":[107],"controller":[110],"on-line":[113],"cancellation.":[115],"Experiments":[116],"laboratory":[119],"prototype":[120],"allowed":[121],"evaluate":[123],"effective":[128],"results":[129],"presence":[132],"disturbances.":[135]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}