A Study on the Robust Control of an Inverted Pendulum Using Discrete Sliding-Mode Control

In this paper, discrete sliding mode controller (DSMC) with sliding-like condition is evaluated experimentally the robustness point of view. DSMC was modified to use a pseudo-sliding methodology and a variable sliding gain methodology. DSMC with a pseudo-sliding methodology and a variable sliding gain methodology perfectly eliminate a chattering problem and can control the system use a small control action. The usefulness of the designed DSMC in this paper is demonstrated by the control of an inverted pendulum system and the robustness of DSMC experimentally evaluated for model error. To provide a performance benchmark with respect to robustness, a direct comparison was made against linear quadratic control.