Sliding mode control of an inverted pendulum

Abstract

This paper considers a sliding mode controller for a rotational inverted pendulum. The purpose of this paper is to familiarize the reader with the strengths of sliding mode control on a very popular system. Another purpose is to reveal the authors' unique surface design which permits the pendulum angle (/spl theta//sub des/) to be a function of the base angle (/spl beta/):/spl theta//sub des/(/spl beta/). A brief background on sliding mode and the pendulum's dynamic equations are provided. Simulations for two test cases are presented with figures.