Title :
Steadiness of real time inverted pendulum
Author :
Tahir, A. ; Iqbal, Sajid ; Bhatti, Aamer Iqbal ; Pervaiz, M.
Author_Institution :
CIIT, Islamabad, Pakistan
Abstract :
In the area of control theory and engineering, the stabilization of an inverted pendulum with the help of moving cart is one of the attractive regulation problem. It is a perfect benchmark for testing of a wide range of classical and modern control techniques. In this paper Sliding Mode Control (SMC) technique is used to design a control law for stabilization of one stage cart-pole type inverted pendulum system. The chattering problem is solved by using saturation function. The simulations and experimental results are highlighted to evaluate the robustness of the control design.
Keywords :
control system synthesis; nonlinear control systems; pendulums; robust control; variable structure systems; SMC technique; chattering problem; classical control techniques; control design; control engineering; control law design; control theory; modern control techniques; moving cart; real time inverted pendulum; robustness; saturation function; sliding mode control technique; stabilization; stage cart-pole type inverted pendulum system; Robustness; TV; Inverted Pendulum; Sliding Mode Control;
Conference_Titel :
Applied Sciences and Technology (IBCAST), 2013 10th International Bhurban Conference on
Conference_Location :
Islamabad
Print_ISBN :
978-1-4673-4425-8
DOI :
10.1109/IBCAST.2013.6512132
