Inverted Pendulum System Disturbance and Uncertainty Effects Reduction using Sliding Mode-Based Control Design

The system behavior of a dual-axis inverted pendulum in the presence of parametric uncertainty could be very challenging from the perspective of control handling. It becomes more challenging in the presence of model uncertainties, external disturbances and chattering phenomenon. In this paper, a sliding mode-based control design is proposed to handle the dynamics, system disturbances and uncertainty effects of an inverted pendulum. This is achieved by: a) approximating the discontinuity in the control law, b) handling the origin of chatter effect by using a continuous function, and c) Euler method with small step size. Simulation results show that the sliding mode controller in the presence of disturbance can eliminate the chattering phenomenon, improve the control precision, and suppress the effects of external disturbance and model uncertainties effectively.