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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...

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主要な著者: Ngadengon, R., Sam, Y. M., Osman, J. H. S., Tomari, R., Wan Zakaria, W. N.
フォーマット: Conference or Workshop Item
出版事項: 2017
主題:
TK Electrical engineering. Electronics Nuclear engineering
オンライン･アクセス:http://eprints.utm.my/id/eprint/97040/
http://dx.doi.org/10.1007/978-981-10-1721-6_45
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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 13.250246

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