Sliding Mode Control of Rotational Inverted Pendulums Using Output Feedback Compensator

출력 피드백을 이용한 회전형 역진자의 슬라이딩 모드 제어

A sliding mode control method using the parameterization of both the hyperplane and the compensator for output feedback and reduced observer is presented for rotational inverted pendulums. This control strategy overcomes the problem of unattainable velocity state which is resulted from severe noise of analogue sense and constructs numerical algorithms designs of dynamic output feedback sliding mode hyperplane and controller. The result of the experiment shows the superior performance compared with the LQ controller and the robustness with respect to both tapping disturbances and certain initial conditions.