Stabilizing of Inverted Pendulum System Using Robust Sliding Mode Control

---

Mahmoud M. S., SALEH R. A. A., Ma’arif A.

International Journal of Robotics and Control Systems, cilt.2, sa.2, ss.230-239, 2022 (Scopus)

• Yayın Türü: Makale / Tam Makale
• Cilt numarası: 2 Sayı: 2
• Basım Tarihi: 2022
• Doi Numarası: 10.31763/ijrcs.v2i2.594
• Dergi Adı: International Journal of Robotics and Control Systems
• Derginin Tarandığı İndeksler: Scopus
• Sayfa Sayıları: ss.230-239
• Anahtar Kelimeler: Inverted Pendulum, Nonlinear, Robust Control, Sliding Mode Control
• Açık Arşiv Koleksiyonu: AVESİS Açık Erişim Koleksiyonu
• Kocaeli Üniversitesi Adresli: Evet

Özet

The Inverted Pendulum is a highly nonlinear, unstable, and fast dynamic sys-tem. 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.