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首先，研究复杂条件下倒立摆系统的自抗扰摆角控制，将实际系统存在的周期扰动、模型不确定性和间隙迟滞非线性等效成控制系统的输入端扰动。然后，利用扩张状态对输入端扰动进行建模和估计，通过设计扩张状态观测器和状态反馈实现复杂条件下倒立摆系统的摆角控制。最后，针对一类直线倒立摆进行仿真和实验研究。实验结果表明，倒立摆系统的自抗扰摆角控制能够克服三类影响因素对系统性能的影响，并保持良好的控制效果。“,”In this study,we investigate angle control by active disturbance rejection for an inverted-pendulum sys-tem under complex conditions.We define the periodic disturbances,model uncertainties,and backlash hys-teresis that occur in practical mechanical systems as input disturbances of the control system.Then,we use the extended state to model and estimate the input disturbance,and achieve angle control for an inverted pen-dulum under complex conditions by designing an extended state observer and state feedback.Lastly,we con-duct simulations and experiments on single inverted pendulums.The experimental results indicate that three kinds of influence factors were weakened by the proposed active-disturbance-rejection angle control method with good control performance.