A case study of robust sliding mode control applied to inverted pendulum on a cart

A control problem of an inverted pendulum on a cart has been addressed in this paper. In particular, a synthesis of alternative sliding mode control for stabilisation of an inverted pendulum at an upper equilibrium point has been investigated. Hence, the feasibility of implementing the developed control system, taking into account primarily the friction of the cart against the gantry and the limited length of the gantry, in a real plant has been given. The proposed control system has been tested by simulation in Matlab/Simulink environment and satisfactory performance of its operation has been obtained.