Numerical Design Method For Nonlinear Sliding Mode Control Of Inverted Pendulum

The design of nonlinear sliding mode controller for the rotary inverted pendulum needs the analytical derivations and affine decomposition to tackle the system model, which could be a very complex or even an unsolvable task. So, a numerical design method for nonlinear sliding mode control is proposed in this paper. The control laws are tested in a simulated and real-time experimental environment in which external disturbances are injected, and the performance of the approach is then discussed.