Stabilization of Inverted pendulum Using Sliding Mode control

Dayakar, Boppuru (2016) Stabilization of Inverted pendulum Using Sliding Mode control. MTech thesis.

[img]PDF (Fulltext is restricted upto 03.04.2020)
Restricted to Repository staff only



An Inverted Pendulum is a classical control problem in control theory. Since it is a non-linear system, stabilization is main problem. So, many researchers come up with different strategies for stabilization of inverted pendulum. This control problem has provided scope for research. The objective of the present work is to stabilize the cart inverted pendulum by designing sliding mode controller. It is observed that system response obtained are proper and satisfactory. In sliding mode control,system has high response time and overshoot. Further, integral sliding mode control method is implemented which yields better performance than the conventional sliding mode control. The performance of the sliding mode controllers are obtained in MATLAB/Simulink.

Item Type:Thesis (MTech)
Uncontrolled Keywords:Sliding mode control; Sliding manifold; Chattering effect; Integral sliding mode control
Subjects:Engineering and Technology > Electrical Engineering
Engineering and Technology > Electrical Engineering > Power Electronics
Divisions: Engineering and Technology > Department of Electrical Engineering
ID Code:9114
Deposited By:Mr. Sanat Kumar Behera
Deposited On:04 Apr 2018 20:51
Last Modified:04 Apr 2018 20:51
Supervisor(s):Naskar, Asim Kumar

Repository Staff Only: item control page