Second order sliding mode PI-PD controller for inverted pendulum

摘要

In this paper, a second order sliding mode PI-PD controller is designed for inverted pendulum which helps to avoid the chattering problem existing in the first order sliding mode control. In this paper, a proportional-integral (PI) type surface-based second order sliding mode controller is designed using modified reaching law to improve the performance for nonlinear state differential equations with unknown parameters. To remove the problem of singularity and peak overshoot, a PD type sliding surface-based sliding mode controller is connected through the feedback. This paper highlights feedback compensator design for different sliding surface-based sliding mode controller and the important features of multiplexing different control inputs resulting in robustness and higher convergence of output. Stability study of the system has been done by using direct Lyapunov stability criterion. Simulations and experimental studies have been carried out to validate the controller.