가변 구조 제어(VSS)를 적용한 도립진자 제어기의 실현

Realization of a VSS control for inverted pendelum

In this paper, an Inverted Pendelum is made and its state equation is formulated. Inverted Pendelum position and stabilization control is performed by variable structure system. Because conventional linear controller has difficulty in controlling inverted pendelum by precise method, VSS controller is chosen as a model to stabilize the Pendelum at the unstable equiblium point. In the experiment, the controller is implemented with the PC and it can stabilize the Inverted Pendelum.