Bacteria foraging optimized and modified PSO optimized PD-SMC and PID-SMC controller for inverted pendulum system

In this paper, sliding mode controller (SMC) is designed for trajectory tracking of Inverted Pendulum (IP) system. In order to determine the optimized parameters for the controller two optimization techniques are used. In this work, Bacteria Foraging (BFOA) method and Modified Particle Swarm Optimized (MPSO) methods are used. The controller is basically designed for trajectory tracking and stabilization of nonlinear single stage inverted pendulum. A sliding mode controller (SMC) is well known for nonlinear system controlling and it is a robust method which has higher convergence. This paper throws light on sliding surface design. Proportional and Derivative (PD) and Proportional Integral and Derivative (PID) sliding surface based sliding mode controllers are designed. Using Lyapunov stability approach control law of sliding mode is derived and its asymptotic stability proved mathematically.