Stabilization of Inverted pendulum Using Sliding Mode control

Abstract

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.