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Controller design for inverted pendulum system using discrete sliding mode control

Ngadengon@Ngadungon , Rafidah and Sam, Y. M. and Osman, H. S. and Ghazali, Rozaimi Controller design for inverted pendulum system using discrete sliding mode control. 2011 2nd International Conference on Instrumentation Control and Automation.

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Abstract

This paper presents discrete sliding mode control (DSMC) for nonlinear model of an inverted pendulum system. The reaching law method is used during the DSMC design. The uncertainties are structured in that system by considering the existence of an error during the pendulum angle measurement. The designed controller is compared with Linear Quadratic Regulator (LQR) controller to observe the capability for controlling the highly nonlinear system of the inverted pendulum. The performance and reliability of the proposed algorithm are determined by performing extensive simulation works using MATLAB/Simulink platform. The result shows that DSMC can produce better response as compared to LQR control strategy.

Item Type: Article
Uncontrolled Keywords: discrete sliding mode control ; inverted pendulum system ; nonliner system ; robust control
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7800-8360 Electronics
Divisions: Faculty of Electrical and Electronic Engineering > Department of Robotic and Mechatronic Engineering
Depositing User: Norfauzan Md Sarwin
Date Deposited: 08 Nov 2012 03:52
Last Modified: 08 Nov 2012 03:52
URI: http://eprints.uthm.edu.my/id/eprint/3267
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