Sliding Mode Control of Double Inverted Pendulum Based on a Novel Approach Law

Abstract

In this paper, a sliding mode controller based on new type of approach law is applied to double inverted pendulum(DIP) in order to weaken the chattering and shorten the approaching time, ensure the system to achieve better dynamic quality and stabilize the DIP system around equilibrium states. Further, theoretical proof is given to demonstrate the feasibility of the proposed method. Experimental results of implementing proposed controller show a high performance of it in comparison to traditional exponential approach law. KEYWORD: inverted pendulum; sliding mode; approach law; chattering