Advanced sliding mode control techniques for Inverted Pendulum: Modelling and simulation

Abstract

Numerous practical applications like robot balancing, segway and hover board riding and operation of a rocket propeller are inherently based on Inverted Pendulum (IP). The control of an IP is a sophisticated problem due to various real world phenomena that make it unstable, non-linear and under-actuated system. This paper presents a comparative analysis of linear and non-linear feedback control techniques based on investigation of time, control energy and tracking error to obtain best control performance for the IP system. The implemented control techniques are Linear Quadratic controller (LQR), Sliding Mode Control (SMC) through feedback linearization, Integral Sliding Mode Control (ISMC) and Terminal Sliding Mode Control (TSMC). Considering cart position and pendulum angle, the designed control laws have been subjected to various test signals so as to characterize their tracking performance. Comparative results indicate that ISMC gives a rise time of 0.6 s with 0% overshoot and over-performs compared to other control techniques in terms of reduced chattering, less settling time and small steady state error. Keywords: Inverted Pendulum (IP), Sliding mode control, Lyapunov stability