Sliding mode control design on non-linear systems

Research on nonlinear system control methodology with sliding mode control (SMC) was carried out. The inverted pendulum with a cart is set as the model, and MATLAB is used for simulation. It is a kind of non-linear, multivariable and unstable system so that it can reflect on many problems during the control procedure [1] In addition, by analyzing this method, critical issues in industrial could be solved and improved, such as the controllingof the knee-joint of robots when walking, the height control in the vertical direction during the process of satellite launch, and the balance control of the lifting hook for the crane [1].The procedures are divided into three parts: design the SMC controller for the inverted pendulum based on the SMC method; make the stability analysis; and simulation using MATLAB and study the performances.It was also discovered that SMC has fair robustness on objective parameters and disturbance of the non-linear system of inverted pendulum. In addition, FSCL (Function Switching Control Law), CSCL (Constant Switching Control Law), and PSCL (Proportional Switching Control Law) have been adopted and compared using MATLAB. It turns out that FSCL has better performance than other two control laws.