International Journal of Exploring Emerging Trends in Engineering (IJEETE)

Vol. 01, Issue 02, Oct, 2014 WWW.IJEETE.COM

SLIDING MODE CONTROL OF INVERTED PENDULUM USING MATLAB
SIMULINK

1
Reena kamboj, 2Rajesh Dhaka
1
Assistant Professor, Dept. of EE, MMEC , Mullana ,Haryana
2
Assistant Professor, Dept. of EE, MVN ,Haryana

Abstract: The inverted pendulum system is highly
nonlinear and open-loop system. The controller
design for such a system is challenging task that’s
why the inverted pendulum system is a classical
benchmark for design, testing, evaluating and
comparing of different classical and contemporary
control techniques. In this paper the focus is made
on the Conventional Control, i.e. Proportional
Integral Derivative (PID) Controller, Linear
Quadratic Regulator (LQR) and Sliding Mode
Controller (SMC). LQR and PID controller which
are generally used for control of linear dynamical
system have been used in this thesis to control
the nonlinear inverted pendulum-cart dynamic
system. SMC controller which is mostly used for
nonlinear system is used here to control the
nonlinear inverted pendulum-cart dynamics to
compare the performance of the three controllers.
I INTRODUCTION
The first part of the problem involves modeling of
the system and linearizes it around its unstable
equilibrium point. Then in the second part,
replicating PID, PID+LQR controller for the system
so that the inverted pendulum system can stabilize at
the equilibrium point i.e. stabilize the pendulum
at the vertically upright position and the steady
state error becomes zero. Irrespective of the PID
and PID+LQR controller a Sliding Mode
Controller is to be designed to compare the
responses of the three controllers. The control input
feed to the system follow some settling-time and
overshoot/undershoot constraint. The calm for
better robustness in the steady state using SMC
compared to PID and PID+LQR controllers, also
need to be verified. An Inverted Pendulum is a
Pendulum which has its mass about the pivot point.
It is often implemented with the pivot point mounted
on a cart that can move horizontally. Whereas a
normal pendulum is stable when hanging
downwards, an inverted pendulum is inherently
unstable, and must be actively balanced in order to
remain upright, either by applying a torque at the
pivot point or by moving the pivot point
horizontally. Controllers are used to keep the
mass at its desired upright position. The
effectiveness of the controllers can be tested by
whether the controllers are able to stabilize the mass
at the desired position, or not. The disturbance and
variations of the system, the controller can with
stand while keeping the inverted pendulum
stable, giving a measure of the robustness of the
controllers.
II MATHEMATICAL MODEL
In this work, the modeling has been implemented by
applying Newton’s Law of motion and force in
order to derive the mathematical equation from [6].
We will consider that the pendulum moves only in
the direction of X. The control force u is applied to
the cart. As we know that the center of gravity of the
pendulum rod is at its geometric center. From the
Inverted Pendulum Model as shown in fig-1, the
mathematical equation can be derived by
considering the dynamics of the system.
Let us consider the angle between the rod and
the vertical line is θ and the ) , ( y x coordinate of
the center of gravity of the pendulum rod as ) , (G G
y x .Then
The rotational moment ofthe pendulum rod about its
center of gravity can be described by
Where, I is the moment of inertia of the rod about its
center of gravity.
The horizontal motion of center of gravity [7]of
pendulum rod is giver by

ISSN – 2394-0573 All Rights Reserved © 2014 IJEETE Page 51

International Journal of Exploring Emerging Trends in Engineering (IJEETE)
Vol. 01, Issue 02, Oct, 2014 WWW.IJEETE.COM

The vertical moment of center of gravity of

pendulum rod is

Inverted Pendulum System Physical Parameters

The horizontal moment of cart is describe by

Deriving the equation (2.2) we get

III SIMULATION RESULTS

The MATLAB-SIMULINK model for the

simulation of simple pendulum system has been
developed using sliding mode control.

Deriving the equation (2.3) we get Considering the

inverted pendulum system shown in the next page
concentrated the mass at the top of the rod, the
center of the gravity is the center of the pendulum
ball. For this case the motion of inertia ( ) I of the
pendulum about its center of gravity is small, and
we assume 0 = I Then the mathematical model
for this system becomes as follows:

FIG 2.2 : Angular displacement with respect to time

And putting the value of θ .. in equation

ISSN – 2394-0573 All Rights Reserved © 2014 IJEETE Page 52

International Journal of Exploring Emerging Trends in Engineering (IJEETE)
Vol. 01, Issue 02, Oct, 2014 WWW.IJEETE.COM
[2] V. I. Utkin, “Variable Structure Systems
with Sliding Modes,” IEEE Trans. Automatic
Control, Vol.22, no.2, pp.212-222, 1977.

[3] C.Edward, S.H. Spurgeon, Sliding Mode

Control: Theory and Applications, Taylor and
Francis Ltd, UK, 1988.

[4] R.A. De Carlo, S.H Zak, G.P. Matthews,

“Variable Structure Control of Nonlinear
Multivariable systems: A Tutorial,” in the
Proceedings of IEEE, vol.76, no.3, pp.212-232,
1988.

[5] J.Y. Hung, W. Gao, J.C. Hung, “Variable

Structure Control: A Survey,” IEEE Trans.
FIGURE2.3 : Angular velocity with respect to time Industrial Electronics, vol.40, no.1, 1993.

[6] Katsuhiko Ogata, University of Minnesota, A

text book of “Modern Control Engineering”,
ISBN-81-203-X.

[7] Netranjeeb Lenka, “Modeling and Controller

Design for an Inverted Pendulum System,”
MTech thesis, Department of Electrical
Engineering, National Institute of Technology,
Rourkela, 2011.

[8] A journal by Ahmad Nor Kasruddin Bin Nasir,

Universiti Technology Malaysia, “Modelling and
controller design for an inverted pendulum system”,
2007.

FIGURE2.4 : Phase portrait of sliding motion [9] B. Bandyopadhyay, Kyung-Soo Kim and
Fulwani Deepak, “Sliding Mode Control Using
IV CONCLUSION Novel Sliding Surfaces,”ISBN 978-3-642-03447-
3, LCCN:2009933690, ISSN 0170-8643, ©2009
In control system engineering there is a lot of scope Springer-Verlag Berlin Heidelberg.
for the balance of inverted pendulum system. Only
conventional classical controllers are discussed in
[10] A. N. K. Nasir, R. M. T. Raja Ismail and
this thesis. Balancing the inverted pendulum by
M. A. Ahmad, “Performance Comparison between
using other types of controllers is left as the future
Sliding Mode Control (SMC) and PD-PID
work. Artificial Intelligence Controllers, like
Controllers for a Nonlinear Inverted Pendulum
employing Genetic Algorithm (GA), and Particle
System,” World Academy of Science, Engineering
Swarm Optimization (PSO) can be used for this
and Technology 71 2010.
purpose.

V REFERENCES: AUTHOR’S BIBLOGRAPHY

[1] V. I. Utkin, Sliding Modes and Their Reena Kamboj is currently working as
Application in Variable Structure System, Assistant Professor in Department in Electrical
Translated from the Russian by A. Parnakh, Engineering , MMEC , Mullana , Haryana.
Mir Publishers, 1978.

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