Control of Underactuated System via Nonlinear Control Techniques

Practical application such as rocket propulsion, robot balancing and hover board riding are innately based on inverted pendulum (IP). Presence of under-actuation and nonlinearity in an IP system creates complexity in its control process. This paper presents an analysis of sliding mode control (SMC) approach and integral sliding mode control (ISMC) approach. The stability analysis is performed using Lyapunov function for both control strategies. Analysis includes comparison of input control energy and settling time between SMC and ISMC to identify the more effective control technique. Simulation results indicate that ISMC performed efficiently in terms of defined parameters of comparison.