Stabilization and tracking control of x-z inverted pendulum via variable structure control
Satyendra KUMAR, Arun Kumar GANGWAR, Vipul Kumar PALI
Abstract. Inverted pendulum (IP) has various real time applications like balancing of two-wheeled robot, control of Segway system, riding of hoverboard and in the rocket launching system. The control of inverted pendulum is a challenging problem in the field of control engineering due to the fact that it is a nonlinear, unstable and under-actuated system. In this paper, we present a control scheme for angle control, position control and tracking control of x-z inverted pendulum systems along with the mathematical modeling of the IP systems in MATLAB Simulink. The control scheme is variable structure control with sliding mode control which is a robust control technique suitable for unstable and nonlinear systems. The output responses from the proposed controller are compared with that of PID controller. Considering the pendulum angle, pivot positions and tracking control we observed that the proposed controller gives better response compared to conventional PID controller and having good robustness towards outer disturbances.
Keywords
Variable Structure Control, X-Z Inverted Pendulum, Whale Optimization Technique, Robustness
Published online 3/1/2025, 10 pages
Copyright © 2025 by the author(s)
Published under license by Materials Research Forum LLC., Millersville PA, USA
Citation: Satyendra KUMAR, Arun Kumar GANGWAR, Vipul Kumar PALI, Stabilization and tracking control of x-z inverted pendulum via variable structure control, Materials Research Proceedings, Vol. 49, pp 320-329, 2025
DOI: https://doi.org/10.21741/9781644903438-32
The article was published as article 32 of the book Mechanical Engineering for Sustainable Development
Content from this work may be used under the terms of the Creative Commons Attribution 3.0 license. Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI.
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