비선형 슬라이드 모드 제어를 적용한 원심력을 갖는 도립진자 제어기의 구현

A Implementation of an Inverted Pendulum with Centrifugal Force using the NonLinear Sliding Mode Contrl

To stabilize a satellite, a spin stabilization method is used for attitude control. The spin stabilization uses the centrifugal force of a pendulum damper which is tilted long boom, to stabilize the unstable satellite. In this paper, an inverted pendulum system is implemented which is similar to the spin stabilization method. Study on the velocity of the rotation axis and the inverted pendulum's angle stability is shown. We designed a controller using a 32bit TMS320C31 DSP for the CPU and also performances by PLD control and Sliding Mode Control is compared.