Optimal-robust controller for furuta pendulum based on linear model

An inverted pendulum is an unstable system with highly non-linear dynamic. It is necessary designing controllers that can react appropriately to external disturbances and modeling uncertainties. Therefore, the aim of this article is to blend a Variable Structure Controller(VSC) with Linear Quadratic Regulator (LQR) as a sliding surface on the linearized model of the Furuta pendulum (rotary inverted pendulum); the performance of the designed controller is tested by simulation, and the robustness is verified by experimental tests.