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Título del libro: Inverted Pendulum In Control Theory And Robotics: From Theory To New Innovations Título del capítulo: Higher order sliding-mode stabilization of inverted cart-pendulum
Stabilization of a cart-pendulum system through a generalized higher
order surface-controller design is presented. The singular Linear
Quadratic (LQ) method presents a natural relationship between order of
singularity of a given performance index and the order of sliding-mode
controller. Thus, several arbitrary relative degree optimal sliding
surfaces and its corresponding higher order sliding-mode controller can
be specified for a given system.
Continuous higher order sliding-mode controllers are obtained through a
robustification method for arbitrary relative degree nominal controllers
based on integral sliding modes and supertwisting algorithm.
An agreement between the accuracy/complexity of the Continuous Higher
Order Sliding Mode (CHOSM) controller and the limited accuracy offered
by the system's sensors and actuators is obtained through several
experiments.
