Control of Inverted Pendulum with Mismatched Uncertainty Using a Disturbance Observer Based Sliding Mode Control

This paper proposes a new control method to counteract and attenuate the mismatched disturbance in an inverted pendulum, controlled with DC motor. In this method, a nonlinear disturbance observer is used due to the nonlinear dynamics of the inverted pendulum. A sliding mode surface that includes a disturbance estimation is redesigned such that sliding motion along the sliding surface can drive states to the desired equilibrium point in the presence of mismatched uncertainties. Comparing the simulation result of this method with conventional sliding mode control (SMC) and Integral sliding mode control (I-SMC) verify the effectiveness of the proposed approach.

Keywords:

Sliding mode control , disturbance observer , inverted pendolum , mismatched disturbance