Continuous sliding mode controller design for inverted pendulum system

Abstract

This paper presents a non linear robust controller for inverted pendulum system (IPS) using continuous sliding mode control (CSMC) technique. The CSMC is obtained by replacing the discontinuous element of integral sliding mode control (ISMC) approach. The super twisting control algorithm is used as a disturbance estimator which rejects the effect of disturbances. The undesirable chattering effect due to discontinuous term present in conventional ISMC has been completely removed using proposed continuous approach. Finally, the superiority of proposed control scheme has been demonstrated throw simulation results to depict its effectiveness.