Title :
Performance comparison between sliding mode control and periodic controller for cart-inverted pendulum system
Author :
Chakraborty, Arindam ; Dey, Jayati
Author_Institution :
Dept. of Electr. Eng., NIT Durgapur, Durgapur, India
Abstract :
The objective of this paper is to compare the robustness performance of continuous time periodic controller with conventional non-linear sliding mode controller (SMC) for a highly non-linear system cart-inverted pendulum. The goal is to determine which control strategy delivers better performance to pendulum´s angle and cart´s position. It is observed that although both the controllers are capable to control the multi output inverted pendulum system successfully; time varying periodic control delivers better robustness compared to nonlinear SMC control strategy by virtue of its loop zero-placement capability. Simulation study is done in MATLAB-SIMULINK environment and the responses are presented in time domain with detailed analysis.
Keywords :
continuous time systems; nonlinear control systems; pendulums; periodic control; robust control; time-varying systems; variable structure systems; MATLAB-SIMULINK environment; cart position; continuous time periodic controller; loop zero-placement capability; multioutput inverted pendulum system; nonlinear SMC control strategy; nonlinear cart-inverted pendulum system; nonlinear sliding mode controller; pendulum angle; time varying periodic controller; DC motors; Mathematical model; Poles and zeros; Robustness; Sliding mode control; Uncertainty; Periodic control; Sliding Mode control; delay margin; gain margin; robustness;
Conference_Titel :
Industrial Technology (ICIT), 2015 IEEE International Conference on
Conference_Location :
Seville
DOI :
10.1109/ICIT.2015.7125132
