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Sliding Mode Control for Inverted Pendulum by karim belalia is a document available to read on EtoBox.
This paper considers a sliding mode controller for positioning the tip of a rotational inverted pendulum at a desired angle. The controller is designed such that the pendulum angle is a function of the base angle. Simulations are presented to test the controller on two cases. Sliding mode control is well-suited for this highly nonlinear system due to its simplicity and robustness to disturbances. The dynamics of the rotational inverted pendulum are modeled using equations of motion. A unique sliding surface
- Author
- karim belalia
- Language
- EN