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- Title
Stabilizing of Inverted Pendulum System Using Robust Sliding Mode Control.
- Authors
Mahmoud, Magdi S.; Saleh, Radhwan A. A.; Ma'arif, Alfian
- Abstract
The Inverted Pendulum is a highly nonlinear, unstable, and fast dynamic system. These characteristics makes it a popular benchmark for building and testing novel controllers. Therefore, in this study, 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 steady state error.
- Subjects
INVERTED pendulum (Control theory); SLIDING mode control; COMPUTER simulation; ROBUST control; NONLINEAR analysis
- Publication
International Journal of Robotics & Control Systems, 2022, Vol 2, Issue 2, p230
- ISSN
2775-2658
- Publication type
Article
- DOI
10.31763/ijrcs.v2i2.594