Design and Realization of Inverted Pendulum Control Based on Variable Structure

In this paper we analyze the inverted pendulum system and use variable structure theory in controlling the car position and pendulum angle. We use Lyapunov theory getting the sliding mode function and output expression of the controller. At the same time we prove the astringency of sliding mode. The simulation and inverted pendulum system experiment both prove that the nonlinear variable structure controller can stabilize this system. When exist exogenous disturbance, this controller also can stabilize this system, which proves that this controller is robust.