engleski

Sliding Mode Control of Custom Built Rotary Inverted Pendulum

Inverted pendulums have been used for a long time as a typical laboratory setup for learning and testing of various control system techniques. In this paper, we present a new laboratory rotary inverted pendulum setup. The setup is equipped with a microcontroller containing a code for communicating directly with MATLAB/Simulink using Simulink Desktop Real Time. In this configuration students have the opportunity to implement a controller in MATLAB/Simulink or to implement it directly on the microcontroller. Its capabilities are tested using sliding mode control, first using simulation and then verified on the experimental setup.

inverted pendulum, sliding mode control, Furuta pendulum

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