The Exploitation of Balancing an Inverted Pendulum System Using Sliding Mode Control

The inverted pendulum system is a classic control
problem that is used in universities around the world. It is a suitable
process to test prototype controllers due to its high non-linearities and
lack of stability. The inverted pendulum represents a challenging
control problem, which continually moves toward an uncontrolled
state. This paper presents the possibility of balancing an inverted
pendulum system using sliding mode control (SMC). The goal is to
determine which control strategy delivers better performance with
respect to pendulum’s angle and cart's position. Therefore,
proportional-integral-derivative (PID) is used for comparison. Results
have proven SMC control produced better response compared to PID
control in both normal and noisy systems.

Authors:

• Sheren H. Salah
• Ahmed Y. Ben Sasi

Keywords:

• Inverted pendulum (IP) proportional-integralderivative (PID)
• sliding mode control (SMC).

References:

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Automatica. ISSN 0005-1098.August (2010), vol. 46, no. 8, pp. 1354-
1362. ISSN 0005-1098.