Steadiness of real time inverted pendulum

Abstract

In the area of control theory and engineering, the stabilization of an inverted pendulum with the help of moving cart is one of the attractive regulation problem. It is a perfect benchmark for testing of a wide range of classical and modern control techniques. In this paper Sliding Mode Control (SMC) technique is used to design a control law for stabilization of one stage cart-pole type inverted pendulum system. The chattering problem is solved by using saturation function. The simulations and experimental results are highlighted to evaluate the robustness of the control design.