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Stabilization of inverted pendulum system using discrete sliding mode control

This paper presents the development of Discrete Sliding Mode Control (DSMC) to control an inverted pendulum systems. The mathematical model of inverted pendulum system is linearized using Taylor expansion method. The linear sliding surface was used to design the DSMC using equivalent method. The sys...

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Main Authors: Ngadengon, Rafidah, Tomari, Razali Md, Hamdan, Rohaiza, Ngadengon, Zuraihah, Mat Akir, Rohaida
Format: Article
Language:English
Published: Institute of Advanced Scientific Research
Subjects:
TH Building construction
Online Access:http://eprints.uthm.edu.my/6567/1/AJ%202020%20%28363%29.pdf
http://eprints.uthm.edu.my/6567/
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spelling my.uthm.eprints.65672022-03-01T04:08:25Z http://eprints.uthm.edu.my/6567/ Stabilization of inverted pendulum system using discrete sliding mode control Ngadengon, Rafidah Tomari, Razali Md Hamdan, Rohaiza Ngadengon, Zuraihah Mat Akir, Rohaida TH Building construction This paper presents the development of Discrete Sliding Mode Control (DSMC) to control an inverted pendulum systems. The mathematical model of inverted pendulum system is linearized using Taylor expansion method. The linear sliding surface was used to design the DSMC using equivalent method. The system is designed with additional matched external disturbance to validate the robustness of the controller. The findings demonstrated that the proposed controller’s capable to track the reference tracking and provide better response compared to Discrete Linear Quadratic Regulator (DLQR) Institute of Advanced Scientific Research Article PeerReviewed text en http://eprints.uthm.edu.my/6567/1/AJ%202020%20%28363%29.pdf Ngadengon, Rafidah and Tomari, Razali Md and Hamdan, Rohaiza and Ngadengon, Zuraihah and Mat Akir, Rohaida Stabilization of inverted pendulum system using discrete sliding mode control. Journal of Advanced Research In Dynamical and Control Systems, 11 (12). pp. 75-81. ISSN 1943-023X
institution Universiti Tun Hussein Onn Malaysia
building UTHM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Tun Hussein Onn Malaysia
content_source UTHM Institutional Repository
url_provider http://eprints.uthm.edu.my/
language English
topic TH Building construction
spellingShingle TH Building construction
Ngadengon, Rafidah
Tomari, Razali Md
Hamdan, Rohaiza
Ngadengon, Zuraihah
Mat Akir, Rohaida
Stabilization of inverted pendulum system using discrete sliding mode control
description This paper presents the development of Discrete Sliding Mode Control (DSMC) to control an inverted pendulum systems. The mathematical model of inverted pendulum system is linearized using Taylor expansion method. The linear sliding surface was used to design the DSMC using equivalent method. The system is designed with additional matched external disturbance to validate the robustness of the controller. The findings demonstrated that the proposed controller’s capable to track the reference tracking and provide better response compared to Discrete Linear Quadratic Regulator (DLQR)
format Article
author Ngadengon, Rafidah
Tomari, Razali Md
Hamdan, Rohaiza
Ngadengon, Zuraihah
Mat Akir, Rohaida
author_facet Ngadengon, Rafidah
Tomari, Razali Md
Hamdan, Rohaiza
Ngadengon, Zuraihah
Mat Akir, Rohaida
author_sort Ngadengon, Rafidah
title Stabilization of inverted pendulum system using discrete sliding mode control
title_short Stabilization of inverted pendulum system using discrete sliding mode control
title_full Stabilization of inverted pendulum system using discrete sliding mode control
title_fullStr Stabilization of inverted pendulum system using discrete sliding mode control
title_full_unstemmed Stabilization of inverted pendulum system using discrete sliding mode control
title_sort stabilization of inverted pendulum system using discrete sliding mode control
publisher Institute of Advanced Scientific Research
url http://eprints.uthm.edu.my/6567/1/AJ%202020%20%28363%29.pdf
http://eprints.uthm.edu.my/6567/
_version_ 1738581507084124160
score 13.159267

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