Design and implementation of sliding mode-state feedback control for stabilization of Rotary Inverted Pendulum

In this paper, design and implementation of stabilizing controller for Rotary Inverted Pendulum (RIP) which is an underactuated nonlinear mechanical system, is presented. A sliding mode-state feedback control scheme is proposed for the stabilization of the RIP system. In this scheme, genetic algorithm based state feedback control and sliding mode control (SMC) combined. After swinging up the pendulum, the proposed sliding mode control is activated and stabilized the pendulum (indirectly controlled mode) in upright position. In spite of being Insensitive to the model error and having the ability to globally stabilize the RIP system, undesirable chattering phenomenon and high amount of control energy consumption are the main disadvantages of implementing SMC. In order to eliminate the chattering phenomenon and reduce control energy after stabilization of the pendulum, the SMC switched to GA based state feedback control which is a smooth control law that stabilizes the system around equilibrium states. Experimental results of implementing proposed controller show a high performance of it in comparison to SMC.