Second Order SMC Controller Design for Rotary Inverted Pendulum: An Underactuated System

摘要

This article presents design and simulation of Second Order Sliding Mode Controller for a rotary inverted pendulum. The rotary inverted pendulum is a bench mark problem for many industrial problem and challenging one for control engineers. The Euler-Lagrange equations and Taylor's linearization method are used to derive the linear model in the state space form. A super-twisting algorithm of second order sliding mode controller is used to design controller. To show the efficacy of the controller, the simulation results are compared with the LQR control and conventional sliding mode control technique. The simulation was carried out using MATLAB/Simulink R2016 version. The robustness of the closed-loop system is also endowed by injecting matched disturbance.