Second order sliding mode control of the inverted pendulum

The paper deals with the synthesis of interval control system's for inverted pendulum. The contents of this paper are written as follows. Firstly, the generalized interval model of inverted pendulum is given. Then generalized block diagram of control system is proposed and defined generalized control outputs. Furthermore, interval control for inverted pendulum is synthesized and simulations results are given to confirm the proposed approach. Finally, conclusions are written down. The used methods granted asymptotically stability of closed loop pendulum's control system. The proposed approach allows one to create control system of wide range nonlinear dynamical objects. Using of this approach simplifies mathematical model of a nonlinear control object and transform this model to Brunovsky form without performing complicated feedback linearization.