Control of Rotary Double Inverted Pendulum using Sliding Mode Controller

Rotary Double Inverted Pendulum is a single-input multi-output, non-linear, under-actuated, coupled and nonminimum phase system. This paper aims on development of sliding mode controller for rotary double inverted pendulum system. The sliding hyper-plane has been developed using Regular Form with Linear-quadratic minimization. Also, the design has been compared with Genetic Algorithm based LQR. The paper also shows the comparison of performances for these controllers on nominal as well as perturbed system.