H2 sliding mode controller design for mobile inverted pendulum system

Abstract EN

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.