A simulation study of non-linear disturbance observer-based sliding mode control for inverted pendulum with mismatched disturbances. (2015)

• Record Type: Journal Article
• Authors: Tandon, Bhawna; Narayan, Shiv; Kumar, Jagdish
• Is Part Of: International journal of system control and information processing. Volume 1:Number 4(2015)
• Page Start: 398
• Page End: 408
• Publication Date: 2015
• Subjects: NDO -- nonlinear disturbance observer -- SMC -- sliding mode control -- chattering -- mismatched disturbances -- inverted pendulum -- simulation -- robust control; System design -- Data processing -- Periodicals; Information technology -- Periodicals; 003.5
• Languages: English
• ISSNs: 1759-9334

Abstract

The work presented here is concerned with the robust control problem for the inverted pendulum with mismatched disturbances via a non-linear disturbance observer (NDO)-based sliding mode control (SMC) method. The NDO-based SMC method provides a solution to the main limitation of conventional first-order sliding mode controllers that is the presence of high frequency oscillations in the control input known as chattering while retaining the nominal performance. To show the effectiveness of NDO-based SMC, both the conventional SMC and the integral SMC (I-SMC) methods are employed in the simulation studies for the purpose of comparison studies and results demonstrate the merits of NDO-based SMC.