Vibration control of a pendulum system by a Vss Sliding mode control technique

摘要

The vibration control problem is investigated for a single pendulum system whose pivot can move vertically along the cart rail. A Vss control scheme having a single-type switching logic is developed by introducing a switching function s weighted with the sign of the pendulum angle θ and using the Lyapunov approach. A nonlinear observer is also developed for estimating the angular velocity θin the real experimental system.