Sliding mode control of rotary inverted pendulm

Mojtaba Ahmadieh Khanesar, Mohammad Teshnehlab, Mahdi Aliyari Shoorehdeli

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2007 Mediterranean Conference on Control and Automation, MED
Publication date2007
Article number4433653
ISBN (Print)142441282X, 9781424412822
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event2007 Mediterranean Conference on Control and Automation, MED - Athens, Greece
Duration: 27 Jul 200729 Jul 2007

Conference

Conference2007 Mediterranean Conference on Control and Automation, MED
CountryGreece
CityAthens
Period27/07/200729/07/2007

Keywords

  • Non-minimum-phase
  • Nonlinear control
  • Rotary inverted pendulum
  • Sliding mode

Cite this

Khanesar, M. A., Teshnehlab, M., & Shoorehdeli, M. A. (2007). Sliding mode control of rotary inverted pendulm. In 2007 Mediterranean Conference on Control and Automation, MED [4433653] https://doi.org/10.1109/MED.2007.4433653