VSS adaptive control based on nonlinear model for TITech pendulum

The authors present a design method for a variable structure system (VSS) adaptive control system based on a nonlinear model for the TITech pendulum. Using this control scheme, the stabilization of the controlled object is achieved, and the efficiency of dynamical parameter estimation by adaptive identification is verified through experiments. Furthermore, it has been demonstrated through simulation results that the control system designed on the basis of the nonlinear model is more robust than the one based on the linearized model. It is noted, however, that the proposed adaptive law is easily destabilized by the injection of disturbances