On the Backstepping and Sliding Mode Control Techniques: An Experimental Study

Abstract

This paper presents a comparative study of conventional and proposed control strategies of the inverted pendulum system. The first strategy is based on the use of one nonlinear controller in the entire operating region. The second one consists of designing only one linear and one nonlinear controllers for each linear and nonlinear models, respectively. Therefore, both backstepping and sliding mode controllers were separately implemented to swing rapidly the pendulum from its initial position into the desired angle. Then, the linear state feedback controller guarantees its stabilization. The experimental results showed that the proposed composite controller reduced the samples comparing to the classical scheme. Moreover, the backstepping ensured the rapidly convergence to the desired angle. Whereas, the sliding mode controller was able to reject the disturbance.