A comparative analysis of linear quadratic regulator and sliding mode control for a rotary inverted pendulum

Abstract

Uncertainties are inherently part of real time systems due to noise injection and parameter variations. Most design considerations use linear time invariant model for design of controllers as they serve easy design procedures. In this paper linear quadratic regulator and sliding mode control is designed for a rotary inverted pendulum. The controllers are then tested on to the nonlinear model. Performance of both the controllers is compared in the presence for parameter variation and noise. .