LMI-based multiobjective integral sliding mode control for rotary inverted pendulum system under load variations

• Main Authors: Fairus, M. A., Mohamed, Zaharuddin, Ahmad, Mohamad Noh, Loi, W. S.
• Format: Article
• Language: English
• Published: Penerbit UTM Press 2015
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/56081/1/MohamadNohAhmad2015_LMI-BasedMultiobjectiveIntegralSliding.pdf; http://eprints.utm.my/id/eprint/56081/; http://dx.doi.org/10.11113/jt.v73.4444

This paper presents a multiobjective integral sliding mode controller (ISMC) for a rotary inverted pendulum system under the influence of varying load. Firstly, the nonlinear system is approximated to facilitate the desired control design via extended linearization and deterministic approach. By usi...