The objective of this paper is to compare the timeudspecification performance between conventional controller PID andudmodern controller SMC for an inverted pendulum system. The goal isudto determine which control strategy delivers better performance withudrespect to pendulum's angle and cart's position. The inverted udpendulum represents a challenging control problem, whichudcontinually moves toward an uncontrolled state. Two controllers areudpresented such as Sliding Mode Control (SMC) and Proportional-udIntegral-Derivatives (PID) controllers for controlling the highlyudnonlinear system of inverted pendulum model. Simulation study hasudbeen done in Matlab Mfile and simulink environment shows that bothudcontrollers are capable to control multi output inverted pendulumudsystem successfully. The result shows that Sliding Mode Controlud(SMC) produced better response compared to PID control strategiesudand the responses are presented in time domain with the detailsudanalysis.
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