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Stability Analysis Of A Class Of Nonlinear Systems Using Discrete Variable Structures And Sliding Mode Control
2008
Zenodo
This paper presents the application of discrete-time variable structure control with sliding mode based on the 'reaching law' method for robust control of a 'simple inverted pendulum on moving cart' - a standard nonlinear benchmark system. The controllers designed using the above techniques are completely insensitive to parametric uncertainty and external disturbance. The controller design is carried out using pole placement technique to find state feedback gain matrix , which decides the
doi:10.5281/zenodo.1073165
fatcat:6rqwa2fcibfdhfcbkmnur72rmy