Adaptive sliding mode controller design for a nonlinear inverted pendulum with unknown physical parameters and its experiment

摘要

In this paper, an adaptive sliding mode control (ASMC) method for a single inverted pendulum (DP) is proposed. The physical parameters are transformed into the model information, thus adaptive law for the EP can be designed with unknown physical parameters. By simulation and experiments, we found that the ASMC method can keep the IP in the upright position, with quick parameters adjustment and high degree of system robustness.