Adaptive PID with sliding mode control for the rotary inverted pendulum system

In this paper, a novel adaptive PID with sliding mode control for the rotary inverted pendulum is proposed. The goal is to achieve system robustness against parameter variations and external disturbances. In this study, the three parameters of PID controller, proportional gain, integral gain, and derivative gain can be systematically obtained according to the adaptive law. Further reduction of the high frequency chattering in the controller is achieved by using the boundary layer technique. The proposed control method is applied to a rotary inverted pendulum control system. By using Lyapunov theorem, the stability and convergence of the proposed scheme is proven. Simulation results show that the chattering and the steady state error are eliminated and trajectory tracking is achieved effectively.