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The Exploitation of Balancing an Inverted Pendulum System Using Sliding Mode Control
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<div class="col-sm-3"> <div class="card"> <div class="card-body"><strong>Paper Count:</strong> 87395</div> </div> </div> </div> <div class="card publication-listing mt-3 mb-3"> <h5 class="card-header" style="font-size:.9rem">The Exploitation of Balancing an Inverted Pendulum System Using Sliding Mode Control</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=Sheren%20H.%20Salah">Sheren H. Salah</a>, <a href="https://publications.waset.org/abstracts/search?q=Ahmed%20Y.%20Ben%20Sasi"> Ahmed Y. Ben Sasi</a> </p> <p class="card-text"><strong>Abstract:</strong></p> The inverted pendulum system is a classic control problem that is used in universities around the world. It is a suitable process to test prototype controllers due to its high non-linearities and lack of stability. The inverted pendulum represents a challenging control problem, which continually moves toward an uncontrolled state. This paper presents the possibility of balancing an inverted pendulum system using sliding mode control (SMC). The goal is to determine which control strategy delivers better performance with respect to pendulum’s angle and cart's position. Therefore, proportional-integral-derivative (PID) is used for comparison. Results have proven SMC control produced better response compared to PID control in both normal and noisy systems. <iframe src="https://publications.waset.org/abstracts/12504.pdf" style="width:100%; height:400px;" frameborder="0"></iframe> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=inverted%20pendulum%20%28IP%29" title="inverted pendulum (IP)">inverted pendulum (IP)</a>, <a href="https://publications.waset.org/abstracts/search?q=proportional-integral%20derivative%20%28PID%29" title=" proportional-integral derivative (PID)"> proportional-integral derivative (PID)</a>, <a href="https://publications.waset.org/abstracts/search?q=sliding%20mode%20control%20%28SMC%29" title=" sliding mode control (SMC)"> sliding mode control (SMC)</a>, <a href="https://publications.waset.org/abstracts/search?q=systems%20and%20control%20engineering" title=" systems and control engineering"> systems and control engineering</a> </p> <a 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