State-dependent sliding-sector VS-control and application to swing-up control of pendulum

A global nonlinear stabilization method by combining the state-dependent optimal regulator and the Sliding-Sector Variable Structure Control(SSVSC) is proposed. The former technique is used to modify an original nonlinear problem into a linear system treatment and to obtain a Riccati solution needed for computation of a sliding-sector of the SSVSC. The SSVSC is adopted to design robust control law that can suppress the inputs to the system. The proposed method is demonstrated efficiently by simulations and experiments of swing-up/stabilization control of the 1-link Furuta pendulum.