Performance evaluation of inverted pendulum control: Linear and nonlinear techniques

In this paper, one linear and two non linear regulation controllers are designed, tested and evaluated for the rotary inverted pendulum system. The state feedback controller, the sliding mode controller, and the super-twisting sliding mode controller are implemented. Their performance, robustness and energy consumption are evaluated showing their capabilities and drawbacks. In addition, a tracking controller based on Lyapunov theory is implemented to place the pendulum on its upward position.