A study of improved inverted pendulum controller using sliding mode

슬라이딩 모드를 이용한 개선된 도립전자 시스템 제어기에 관한 연구

The inverted pendulum system is mechanical system which can handle the modern control theory and practical applications. In theoretical field, it is used as the experimental device identifying the effects of control method and in applicative field. There are difficulties in designing or linearizing the practical controller because it is so sensitive to the parameter variation and has the highly non-linear characteristic. In this paper, we suggested the systems which compensate the non-linearity throughout the internal control method and designed controller which is robust to the parameter variation using sliding mode.