Sliding Mode Control of an Inverted Pendulum

This paper presents solutions to attenuate the chattering phenomenon raised by the classic sliding mode control. The first solution consists in approximating the discontinuity in the control law, origin of chatter effect, by using a continuous function. Another solution is to use the second order sliding mode control. Subsequently, these different algorithms will be applied to an inverted pendulum in order to achieve dynamic output tracking. Simulation results are presented to illustrate the efficiency of these algorithms.

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