Second order sliding mode control for inverted pendulum

This paper presents a second order sliding mode control for an inverted pendulum which is a nonlinear and unstable system. Two second order sliding mode algorithms are presented: Twisting algorithm and super-twisting algorithm. They are used to ensure not only a better robustness against parametric uncertainties, modeling errors and external disturbances, by the attenuation of chattering, but also a finite time convergence of state variables. Simulations results are shown to manifest the efficiency of these approaches.