Staff View: Stabilization of inverted pendulum: A multirate output feedback based discrete time sliding mode control

Stabilization of inverted pendulum: A multirate output feedback based discrete time sliding mode control

This paper presents the application of multirate output feedback with discrete time sliding mode control (SMC) for controlling the inverted pendulum system. The SMC are well known as completely insensitive to parameter variations and external disturbance. Normally, in order to design controller, the...

Full description

Saved in:

Bibliographic Details
Main Authors:	Ngadengon, R., Sam, Y. M., Osman, J. H. S., Tomari, R., Wan Zakaria, W. N.
Format:	Conference or Workshop Item
Published:	2017
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/97040/ http://dx.doi.org/10.1007/978-981-10-1721-6_45
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my.utm.97040
record_format	eprints
spelling	my.utm.970402022-09-15T04:14:54Z http://eprints.utm.my/id/eprint/97040/ Stabilization of inverted pendulum: A multirate output feedback based discrete time sliding mode control Ngadengon, R. Sam, Y. M. Osman, J. H. S. Tomari, R. Wan Zakaria, W. N. TK Electrical engineering. Electronics Nuclear engineering This paper presents the application of multirate output feedback with discrete time sliding mode control (SMC) for controlling the inverted pendulum system. The SMC are well known as completely insensitive to parameter variations and external disturbance. Normally, in order to design controller, the state feedback from the entire state variable is utilized. However not all of the state feedbacks are always available. Therefore, the concept of the multirate output feedback (MROF) in which the output state that are always available at any situation is proposed. The nominal plant model for inverted pendulum system is fourth order with additional of external disturbance. Simulation results verify the proposed controller’s performance even though nonlinearity present in the inverted pendulum system. 2017 Conference or Workshop Item PeerReviewed Ngadengon, R. and Sam, Y. M. and Osman, J. H. S. and Tomari, R. and Wan Zakaria, W. N. (2017) Stabilization of inverted pendulum: A multirate output feedback based discrete time sliding mode control. In: 9th International Conference on Robotic, Vision, Signal Processing and Power Applications, RoViSP 2016, 2 - 3 February 2016, Penang, Malaysia. http://dx.doi.org/10.1007/978-981-10-1721-6_45
institution	Universiti Teknologi Malaysia
building	UTM Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Teknologi Malaysia
content_source	UTM Institutional Repository
url_provider	http://eprints.utm.my/
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Ngadengon, R. Sam, Y. M. Osman, J. H. S. Tomari, R. Wan Zakaria, W. N. Stabilization of inverted pendulum: A multirate output feedback based discrete time sliding mode control
description	This paper presents the application of multirate output feedback with discrete time sliding mode control (SMC) for controlling the inverted pendulum system. The SMC are well known as completely insensitive to parameter variations and external disturbance. Normally, in order to design controller, the state feedback from the entire state variable is utilized. However not all of the state feedbacks are always available. Therefore, the concept of the multirate output feedback (MROF) in which the output state that are always available at any situation is proposed. The nominal plant model for inverted pendulum system is fourth order with additional of external disturbance. Simulation results verify the proposed controller’s performance even though nonlinearity present in the inverted pendulum system.
format	Conference or Workshop Item
author	Ngadengon, R. Sam, Y. M. Osman, J. H. S. Tomari, R. Wan Zakaria, W. N.
author_facet	Ngadengon, R. Sam, Y. M. Osman, J. H. S. Tomari, R. Wan Zakaria, W. N.
author_sort	Ngadengon, R.
title	Stabilization of inverted pendulum: A multirate output feedback based discrete time sliding mode control
title_short	Stabilization of inverted pendulum: A multirate output feedback based discrete time sliding mode control
title_full	Stabilization of inverted pendulum: A multirate output feedback based discrete time sliding mode control
title_fullStr	Stabilization of inverted pendulum: A multirate output feedback based discrete time sliding mode control
title_full_unstemmed	Stabilization of inverted pendulum: A multirate output feedback based discrete time sliding mode control
title_sort	stabilization of inverted pendulum: a multirate output feedback based discrete time sliding mode control
publishDate	2017
url	http://eprints.utm.my/id/eprint/97040/ http://dx.doi.org/10.1007/978-981-10-1721-6_45
_version_	1744353705879142400
score	13.211869

Stabilization of inverted pendulum: A multirate output feedback based discrete time sliding mode control

Similar Items