Research on the control of flexible double inverted pendulum system based on improved boundary layer of sliding mode

Flexible double inverted pendulum system is a higher order, nonlinear and strong coupling unstable system. In order to achieve the steady control of the pendulum, an improved method of sliding mode control with boundary layer is put forward. Linear feedback is replaced with nonlinear feedback within the boundary layer. A mathematical model of flexible double inverted pendulum which is based on mechanism modeling method is established. Then the sliding mode controller is designed. The system has good stability control and robustness. The simulation results show that, the improved method not only realizes stable control of inverted pendulum but also ensures the system states reach sliding surface in a limited time. The robustness is stronger than the conventional boundary layer method.