Integral surface based Second Order Sliding Mode Controller design for Inverted Pendulum with PD SMC Compensation

TL;DR

This paper presents a novel control strategy combining PD sliding mode control with second order PI sliding mode control to stabilize an inverted pendulum, enhancing robustness and convergence through mathematical modeling, simulations, and experiments.

Contribution

It introduces a new integrated sliding mode control design specifically for nonlinear inverted pendulum systems, improving stability and performance.

Findings

Enhanced robustness and convergence demonstrated in simulations and experiments.

Effective handling of nonlinearities and unknown parameters in the system.

Improved stability and control performance over traditional methods.

Abstract

Stabilization of a nonlinear single stage inverted pendulum is a complicated control problem, as nonlinearity is present inherently and external factors affect the equilibrium position. In this paper, a PD sliding mode controller is connected with Second order PI (Proportional+Integral) sliding mode controller, which is designed to improve the performance for nonlinear state differential equations with unknown parameters. This paper throws light on the sliding surface design and highlights the important features of multiplexing sliding mode control inputs resulting in robustness and higher convergence of output, through extensive mathematical modeling. Simulations and experimental application is done on the system to evaluate the controller for performance, complexity of implementation and also on the impact of the nonlinear IP system on its stability.