(Control and Instrumentation Engineering Department, KFUPM, Dhahran, Saudi Arabia)(2) Radhwan A. A. Saleh
(Computer Engineering Department, KFUPM, Saudi Arabia)(3) Alfian Ma’arif
(Universitas Ahmad Dahlan, Yogyakarta, Indonesia)*corresponding author
AbstractThe Inverted Pendulum is a highly nonlinear, unstable, and fast dynamic system. These characteristics make it a popular benchmark for building and testing novel controllers. Therefore, in this study, a sliding mode controller is proposed and tested on the inverted pendulum system. According to the results of the simulation experiments with a sine signal as a reference, the proposed controller can stabilize the system well and has so fast response. Moreover, we have tuned the parameters of the proposed sliding mode controller in order to eliminate the chattering effect, the overshoot, and the steady
state error. KeywordsInverted Pendulum; Sliding Mode Control; Robust Control; Nonlinear
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DOIhttps://doi.org/10.31763/ijrcs.v2i2.594 |
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International Journal of Robotics and Control Systems
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