Stabilization of inverted pendulum system using discrete sliding mode control

Ngadengon, Rafidah and Tomari, Razali Md and Hamdan, Rohaiza and Ngadengon, Zuraihah and Mat Akir, Rohaida Stabilization of inverted pendulum system using discrete sliding mode control. Journal of Advanced Research In Dynamical and Control Systems, 11 (12). pp. 75-81. ISSN 1943-023X

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This paper presents the development of Discrete Sliding Mode Control (DSMC) to control an inverted pendulum systems. The mathematical model of inverted pendulum system is linearized using Taylor expansion method. The linear sliding surface was used to design the DSMC using equivalent method. The system is designed with additional matched external disturbance to validate the robustness of the controller. The findings demonstrated that the proposed controller’s capable to track the reference tracking and provide better response compared to Discrete Linear Quadratic Regulator (DLQR)

Item Type: Article
Uncontrolled Keywords: Inverted pendulum system: Discrete Sliding Mode Controller; cart motor.
Subjects: T Technology > TH Building construction
Divisions: Faculty of Electrical and Electronic Engineering > Department of Electrical Engineering
Depositing User: Mr. Shahrul Ahmad Bakri
Date Deposited: 01 Mar 2022 04:08
Last Modified: 01 Mar 2022 04:08

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