Quasi-Sliding Mode Control for Single Inverted Pendulum System

Abstract

Inverted pendulum system is a nonlinear, coupling, multi-variable and unstable system. Because the inverted pendulum system exists all kinds of disturbs inevitably, the states have errors and the accuracy of control drops. In this paper, quasi-sliding mode control is used to achieve optimal control. First, the state-space model of the system is created by force analysis. Then, in the design of the controller, we make use of the sliding mode control, which has the advantage of anti-interference. To reduce the chattering phenomenon, we utilize saturation function in the reaching low design. The simulation results show the effective of the method