Sliding mode control of inverted pendulum based on state observer

The sliding mode control strategy based on state observer is proposed for a typical MIMO system with nonlinearity and strong coupling characteristics. The mathematical model of inverted pendulum is established by using Lagrange equation. Taking it as an example, through the observation of the state, the on-line estimation of the speed of the cart and the angular speed of the swing link is realized. Sliding mode control is introduced, and the stability of the controller is proved by Lyapunov stability theory. The design of the controller is relatively simple, and it has the characteristics of adaptive ability, strong robustness, and low chattering. The simulation results show that the sliding mode control based on the state observer has good robustness and feasibility.