Control System Design for a Mobile Inverted Pendulum via Sliding Mode Technique

This paper considers the control system design for a mobile inverted pendulum via sliding mode technique. Firstly, a linear system is described in order to facilitate the development of an efficient control system. Secondly, sliding mode controllers are developed for stabilizing and tracking this system. Thirdly, the controllers have been implemented on a PIC microcontroller board. Additionally, the simulations were given to prove the validity of the proposed controllers.