Stabilization of inverted pendulum: A multirate output feedback based discrete time sliding mode control

Abstract

This paper presents the application of multirate output feedback with discrete time sliding mode control (SMC) for controlling the inverted pendulum system. The SMC are well known as completely insensitive to parameter variations and external disturbance. Normally, in order to design controller, the state feedback from the entire state variable is utilized. However not all of the state feedbacks are always available. Therefore, the concept of the multirate output feedback (MROF) in which the output state that are always available at any situation is proposed. The nominal plant model for inverted pendulum system is fourth order with additional of external disturbance. Simulation results verify the proposed controller’s performance even though nonlinearity present in the inverted pendulum system.