Multiple layers sliding mode control for inverted pendulum systems

Aiming at inverted pendulum system which is a class of under-actuated system, the nonlinear balance controller is design by multiple layers sliding mode control. The design method of sliding surface and sliding mode controller are presented. Simulation study and comparison of two controller design methods are given. Simulation results show that more larger basin o attraction can be achieved by multiple layers sliding mode control method comparing with common sliding mode control method.