Sliding mode control of rotary inverted pendulm

Mojtaba Ahmadieh Khanesar; Mohammad Teshnehlab; Mahdi Aliyari Shoorehdeli

doi:10.1109/MED.2007.4433653

Sliding mode control of rotary inverted pendulm

Mojtaba Ahmadieh Khanesar, Mohammad Teshnehlab, Mahdi Aliyari Shoorehdeli

K.N. Toosi University of Technology

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-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 language	English
Title of host publication	2007 Mediterranean Conference on Control and Automation, MED
Publication date	2007
Article number	4433653
ISBN (Print)	142441282X, 9781424412822
DOIs	https://doi.org/10.1109/MED.2007.4433653
Publication status	Published - 2007
Externally published	Yes
Event	2007 IEEE Mediterranean Conference on Control and Automation - Divani Caravel Hotel, Athens, Greece Duration: 27 Jun 2007 → 29 Jun 2007 Conference number: 15 https://ieeexplore.ieee.org/xpl/conhome/4433643/proceeding

Conference

Conference	2007 IEEE Mediterranean Conference on Control and Automation
Number	15
Location	Divani Caravel Hotel
Country/Territory	Greece
City	Athens
Period	27/06/2007 → 29/06/2007
Internet address	https://ieeexplore.ieee.org/xpl/conhome/4433643/proceeding

Keywords

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

Access to Document

10.1109/MED.2007.4433653

OpenUrl availability

Full text

Cite this

@inproceedings{c44e5cfef93c44539e0c0093644facb4,

title = "Sliding mode control of rotary inverted pendulm",

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.",

keywords = "Non-minimum-phase, Nonlinear control, Rotary inverted pendulum, Sliding mode",

author = "Khanesar, {Mojtaba Ahmadieh} and Mohammad Teshnehlab and Shoorehdeli, {Mahdi Aliyari}",

year = "2007",

doi = "10.1109/MED.2007.4433653",

language = "English",

isbn = "142441282X",

booktitle = "2007 Mediterranean Conference on Control and Automation, MED",

note = "2007 IEEE Mediterranean Conference on Control and Automation, MED'07 ; Conference date: 27-06-2007 Through 29-06-2007",

url = "https://ieeexplore.ieee.org/xpl/conhome/4433643/proceeding",

}

TY - GEN

T1 - Sliding mode control of rotary inverted pendulm

AU - Khanesar, Mojtaba Ahmadieh

AU - Teshnehlab, Mohammad

AU - Shoorehdeli, Mahdi Aliyari

N1 - Conference code: 15

PY - 2007

Y1 - 2007

N2 - 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.

AB - 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.

KW - Non-minimum-phase

KW - Nonlinear control

KW - Rotary inverted pendulum

KW - Sliding mode

UR - http://www.scopus.com/inward/record.url?scp=50249167818&partnerID=8YFLogxK

U2 - 10.1109/MED.2007.4433653

DO - 10.1109/MED.2007.4433653

M3 - Article in proceedings

AN - SCOPUS:50249167818

SN - 142441282X

SN - 9781424412822

BT - 2007 Mediterranean Conference on Control and Automation, MED

T2 - 2007 IEEE Mediterranean Conference on Control and Automation

Y2 - 27 June 2007 through 29 June 2007

ER -

Sliding mode control of rotary inverted pendulm

Abstract

Conference

Keywords

Access to Document

OpenUrl availability

Other files and links

Fingerprint

Cite this