Sliding mode control for rotary inverted pendulum
Corressponding author's email:
vulq@hcmute.edu.vnKeywords:
Inverted Pendulum, sliding mode control, nonlinear control, Matlab, SimulinkAbstract
Rotary Inverted Pendulum is a nonlinear model that is popularly used in automatic con- trol laboratories. A lot of algorithms have been developed for this model. In this paper, the au- thors represent a method of sliding mode control - one of nonlinear algorithms – for the rotary inverted pendulum. The algorithm stabilizes well the arm position and pendulum angle of the model on simulation. This research also shows that control algorithm has good results in real system.
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References
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Pasquale Buonocunto, Francesco Corucci, Real-time PID control of an inverted pendu- lum, MSc in Ocmputer Emgineering, University of Pisa, Italy.
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