Decentralized variable structure control design for a two-pendulum system

This note presents a decentralized variable structure control design for a nonlinear state model of two coupled pendulums. This was motivated by the swing equation model of a two-machine power system whose behavior is similar. The control objective is to drive the pendulum motion from one equilibrium point to another.

[1]  V. Utkin Variable structure systems with sliding modes , 1977 .

[2]  S. Richter,et al.  Control of a class of nonlinear systems by decentralized control , 1981, 1981 20th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.