Sliding mode control of Rotary Inverted Pendulm

This paper presents sliding mode control of rotary inverted pendulum. Rotary inverted pendulum is a nonlinear, unstable and non-minimum-phase system. Designing sliding mode controller for such system is difficult in general. Here, first the desired performance is introduced and based on this perform...

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Bibliographic Details
Main Authors: Khanesar, M.A., Teshnehlab, M., Shoorehdeli, M.A.
Format: Conference Proceeding
Language:English
Subjects:
Control system synthesis
Control systems
Linear feedback control systems
Lyapunov method
Non-Minimum-Phase
Nonlinear Control
Nonlinear control systems
Nonlinear equations
Nonlinear systems
Paper technology
Rotary Inverted Pendulum
Sliding Mode
Sliding mode control
State-space methods
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Description
Summary:This paper presents sliding mode control of rotary inverted pendulum. Rotary inverted pendulum is a nonlinear, unstable and non-minimum-phase system. Designing sliding mode controller for such system is difficult in general. Here, first the desired performance is introduced and based on this performance two sliding surfaces are designed, then system is controlled by proper definition of a lyapunov function. The lyapunov function designed puts more emphasis on the control of the inverted pendulum rather than the control of the motor.
DOI:10.1109/MED.2007.4433653