Stabilizing of Inverted Pendulum System Using Robust Sliding Mode Control
Magdi S. Mahmoud, Radhwan A. A. Saleh, Alfian Ma’arif
Abstract
The Inverted Pendulum is a highly nonlinear, unstable, and fast dynamic system. These characteristics make it a popular benchmark for building and testing novel controllers. Therefore, in this study, a sliding mode controller is proposed and tested on the inverted pendulum system. According to the results of the simulation experiments with a sine signal as a reference, the proposed controller can stabilize the system well and has so fast response. Moreover, we have tuned the parameters of the proposed sliding mode controller in order to eliminate the chattering effect, the overshoot, and the steadystate error.
Topics & Concepts
Inverted pendulumControl theory (sociology)Overshoot (microwave communication)Controller (irrigation)Sliding mode controlBenchmark (surveying)Nonlinear systemComputer scienceMode (computer interface)Double inverted pendulumSIGNAL (programming language)Control (management)PhysicsArtificial intelligenceTelecommunicationsBiologyProgramming languageQuantum mechanicsAgronomyGeodesyOperating systemGeographyAdaptive Control of Nonlinear SystemsHydraulic and Pneumatic SystemsAdvanced Control Systems Design