Controller design and simulation of underactuated pendulum

This paper presents a theoretical frame for inverted pendulum control system, only one control input is added to the system, horizontal force or vertical moment respectively. Underactuated control system formulation of inverted pendulum is addressed based on sliding mode control theory, simulation was performed under the MATLAB environment, the simulation results show that controller design of this kind of underactuated system is complex, many factors such as sensors, actuators, characteristics of plant and various uncertainties are considered thoroughly, simulation results verify the effectiveness of proposed controller.