Advanced Robust Control Techniques: Comparison and Application to a second order highly nonlinear system

Robust integral of sign of error (RISE) is a relativelynew control technique. It has been applied to several nonlinearsystems. However its efficacy in comparison to existing robustcontrol techniques is yet to be established. Terminal sliding modecontrol (TSMC) is a well known robust control technique, whichbelongs to the family of Sliding Mode Control. This paper dealswith the application of RISE and TSMC to control of a wellknown and highly nonlinear system - the inverted pendulum forcomparison of these two techniques. The comparison is madeon the basis of time response, control energy and trackingperformance. It is reported that TSMC gives faster responsewith lower control energy and better tracking performance ascompared to RISE based control.