Discrete sliding mode control of inverted pendulum

This paper presents a treatment of variable structure discrete systems. Firstly, in order to control nonlinear single-input single-output (SISO) systems, the first sliding mode controller using the classical surface is considered. Then, a robust discrete second order sliding mode controller is investigated to overcome the effect of the chattering phenomenon. The controllers designed using the above techniques are completely insensitive to parametric uncertainty and external disturbance. This approach was simulated on the inverted pendulum system and experimental results confirm the effectiveness of the proposed control to reject disturbances.