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Swing up and Stabilization of Rotational Inverted Pendulum by Fuzzy Sliding Mode Controller

  • K. RajeswariEmail author
  • P. Vivek
  • J. Nandhagopal
Conference paper
Part of the Lecture Notes on Data Engineering and Communications Technologies book series (LNDECT, volume 35)

Abstract

Rotational inverted pendulum (RIP) is widely used as a benchmark system in assessing various control strategies. Though a Proportional-Integral-Derivative (PID) controller is widely used control strategy, it is not recommended for the inverted pendulum due to the difficulties in tuning PID parameters. This paper presents Sliding Mode Controller (SMC) and Fuzzy Sliding Mode Controller (FSMC) for stabilizing the RIP. SMC is applied for the stabilization and robust control of RIP based on pole placement method. The drawbacks of SMC in terms of high control gain and chattering are overcome by FSMC. These controllers are applied to the RIP in real-time and their performance is compared on the basis of Pendulum regulation.

Keywords

Rotational Inverted Pendulum PID SMC FSMC 

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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Department of Electrical and Electronics EngineeringVelammal Institute of TechnologyChennaiIndia

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