Stabilization of Triple Furuta pendulum by sliding mode control

In this paper, author present a system which named Triple Furuta pendulum. This system has three pendulums which placed at direct drive motor. Author aim at a realizetion of a stabilization of a Triple Furuta pendulum. For the stabilizing control, author derived the equation of motion by the Eular-Lagrange method and a state equation. Author show structural evaluation based on the condition number of controllability matrix and design of present system. Since there are three pendulums, each link would be affected by disturbance. And therefore a simulation of stabilizing control by sliding mode control with high robustness.