Discrete-time sliding mode control for an inverted pendulum system

This paper presents a discrete-time sliding mode control for the under-actuated inverted pendulum system linearized around its unstable equilibrium position. The closed-loop system stability and the reference model follow-up are guaranteed using linear quadratic regulator approach in the switching surface design. Moreover, hyperbolic tangent function is used in the control law design in order to avoid chattering phenomenon. The proposed controller ensures that the state trajectory converges in finite-time to the sliding manifold. Numerical simulation results demonstrate the effectiveness of the developed scheme.

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