Title: A simulation study of non-linear disturbance observer-based sliding mode control for inverted pendulum with mismatched disturbances
Authors: Bhawna Tandon; Shiv Narayan; Jagdish Kumar
Addresses: Electrical Engineering Department, PEC University, Sec-12, Chandigarh, 160012, India ' Electrical Engineering Department, PEC University, Sec-12, Chandigarh, 160012, India ' Electrical Engineering Department, PEC University, Sec-12, Chandigarh, 160012, India
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.
Keywords: NDO; nonlinear disturbance observer; SMC; sliding mode control; chattering; mismatched disturbances; inverted pendulum; simulation; robust control.
International Journal of System Control and Information Processing, 2015 Vol.1 No.4, pp.398 - 408
Received: 16 Jun 2015
Accepted: 07 Dec 2015
Published online: 12 Apr 2016 *