Stabilization of rotary double inverted pendulum using higher order sliding modes

This paper proposes Higher Order Sliding Mode Control (HOSMC) technique for robust stabilization of Rotary Double Inverted Pendulum (RDIP). A state space model is used, which represents an underactuated and unstable system. Linearized model is used for developing controller. The system is transformed using coordinate transformation for deriving sliding surface. Controller is then synthesized using Super Twisting Algorithm (STA). The proposed method has been validated in simulation and experimentation.