Stabilization of inverted pendulum system using discrete sliding mode control
This paper presents the development of Discrete Sliding Mode Control (DSMC) to control an inverted pendulum systems. The mathematical model of inverted pendulum system is linearized using Taylor expansion method. The linear sliding surface was used to design the DSMC using equivalent method. The sys...
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| Format: | Article |
| Language: | English |
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Institute of Advanced Scientific Research
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| Online Access: | http://eprints.uthm.edu.my/6567/ http://eprints.uthm.edu.my/6567/1/AJ%202020%20%28363%29.pdf |
| _version_ | 1848888846266138624 |
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| author | Ngadengon, Rafidah Tomari, Razali Md Hamdan, Rohaiza Ngadengon, Zuraihah Mat Akir, Rohaida |
| author_facet | Ngadengon, Rafidah Tomari, Razali Md Hamdan, Rohaiza Ngadengon, Zuraihah Mat Akir, Rohaida |
| author_sort | Ngadengon, Rafidah |
| building | UTHM Institutional Repository |
| collection | Online Access |
| description | This paper presents the development of Discrete Sliding Mode Control (DSMC) to control an inverted pendulum systems. The mathematical model of inverted pendulum system is linearized using Taylor expansion method. The linear sliding surface was used to design the DSMC using equivalent method. The system is designed with additional matched external disturbance to validate the robustness of the controller. The findings demonstrated that the proposed controller’s capable to track the reference tracking and provide better response compared to Discrete Linear Quadratic Regulator (DLQR) |
| first_indexed | 2025-11-15T20:16:46Z |
| format | Article |
| id | uthm-6567 |
| institution | Universiti Tun Hussein Onn Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T20:16:46Z |
| publisher | Institute of Advanced Scientific Research |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | uthm-65672022-03-01T04:08:25Z http://eprints.uthm.edu.my/6567/ Stabilization of inverted pendulum system using discrete sliding mode control Ngadengon, Rafidah Tomari, Razali Md Hamdan, Rohaiza Ngadengon, Zuraihah Mat Akir, Rohaida TH Building construction This paper presents the development of Discrete Sliding Mode Control (DSMC) to control an inverted pendulum systems. The mathematical model of inverted pendulum system is linearized using Taylor expansion method. The linear sliding surface was used to design the DSMC using equivalent method. The system is designed with additional matched external disturbance to validate the robustness of the controller. The findings demonstrated that the proposed controller’s capable to track the reference tracking and provide better response compared to Discrete Linear Quadratic Regulator (DLQR) Institute of Advanced Scientific Research Article PeerReviewed text en http://eprints.uthm.edu.my/6567/1/AJ%202020%20%28363%29.pdf Ngadengon, Rafidah and Tomari, Razali Md and Hamdan, Rohaiza and Ngadengon, Zuraihah and Mat Akir, Rohaida Stabilization of inverted pendulum system using discrete sliding mode control. Journal of Advanced Research In Dynamical and Control Systems, 11 (12). pp. 75-81. ISSN 1943-023X |
| spellingShingle | TH Building construction Ngadengon, Rafidah Tomari, Razali Md Hamdan, Rohaiza Ngadengon, Zuraihah Mat Akir, Rohaida Stabilization of inverted pendulum system using discrete sliding mode control |
| title | Stabilization of inverted pendulum system using discrete sliding mode control |
| title_full | Stabilization of inverted pendulum system using discrete sliding mode control |
| title_fullStr | Stabilization of inverted pendulum system using discrete sliding mode control |
| title_full_unstemmed | Stabilization of inverted pendulum system using discrete sliding mode control |
| title_short | Stabilization of inverted pendulum system using discrete sliding mode control |
| title_sort | stabilization of inverted pendulum system using discrete sliding mode control |
| topic | TH Building construction |
| url | http://eprints.uthm.edu.my/6567/ http://eprints.uthm.edu.my/6567/1/AJ%202020%20%28363%29.pdf |