H2 Sliding Mode Controller Design for Mobile Inverted Pendulum System

Authors

• Hazem I., Control and Systems Eng. Dept. at University of TechnologyFollow
• Mustafa J. Kadhim, Control and Systems Eng. Dept. at University of TechnologyFollow

Document Type

Original Study

Keywords

Control Engineering

Abstract

The design of an H2 sliding mode controller for a mobile inverted pendulum system is proposed in this paper. This controller is conducted to stabilize the mobile inverted pendulum in the upright position and drive the system to a desired position. Lagrangian approach is used to develop the mathematical model of the system. The H2 controller is combined with the sliding mode control to give a better performance compared to the case of using each of the above controllers alone. The results show that the proposed controller can stabilize the system and drive the output to a given desired input. Furthermore, variations in system parameters and disturbance are considered to illustrate the robustness of the proposed controller.

How to Cite This Article

I., Hazem and Kadhim, Mustafa J. (2018) "H2 Sliding Mode Controller Design for Mobile Inverted Pendulum System," Iraqi Journal of Computers, Communications, Control and Systems Engineering: Vol. 18: Iss. 2, Article 2.
DOI: 10.33103/uot.ijccce.18.2.2
Available at: https://ijccce.researchcommons.org/journal/vol18/iss2/2