Performance comparison of backstepping and sliding mode controllers

In this paper, backstepping and sliding mode controllers were proposed to stabilize the inverted pendulum into the unstable equilibrium point. Simulation and real-time experimental results for both composite controllers backstepping-PID and sliding mode-PID achieve good performance. Moreover, it proves that the backstepping controller was able to attain the desired response with high degree of rapidity. However, sliding mode controller was able to reject the matched disturbance present in the system.