Application of sliding mode control to design of the inverted pendulum control system

Inverted pendulum is one of the most important plants to be researched to investigate the validity of various control strategies, it´s a highly nonlinear, unstable system. In this paper, the friction force and viscous moment are considered in the modeling of the plant, the sliding mode control method is applied to the design of the control system of inverted pendulum, both traditional sliding mode control law and integral sliding mode control law are proposed, the comparison of the performance of two kinds control laws are presented based on simulation results under the Matlab/Simulink environment.