Sliding Mode Controller for Parallel Rotary Double Inverted Pendulum: An Eigen Structure Assignment Approach

Krishna, Bipin and Chandran, Deepak and George, V I (2016) Sliding Mode Controller for Parallel Rotary Double Inverted Pendulum: An Eigen Structure Assignment Approach. International Journal of Control Theory and Applications, 9 (39). pp. 195-204. ISSN 09745572

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Abstract

This paper proposes a special approach of sliding mode controller so called Eigen structure assignment approach for parallel rotary double inverted pendulum (PRDIP) system. This offers a simple method to control a class of under-actuated systems by reducing the higher order dynamics to simpler one. Here, a particular canonical form so called the regular form was used to produce an appropriate understanding of the reduced order sliding mode dynamics. In addition to this we adopt a robust Eigen structure assignment approach by using ‘place’ command in mat lab. In this the modeling of the system has been carried out through classical mechanics, considering the inertia tensors of all the principle axis.

Item Type: Article
Uncontrolled Keywords: Rotary Double Inverted Pendulum (RDIP), Classical mechanics, Sliding mode control.
Subjects: Engineering > MIT Manipal > Instrumentation and Control
Depositing User: MIT Library
Date Deposited: 07 Jan 2017 10:18
Last Modified: 07 Jan 2017 10:18
URI: http://eprints.manipal.edu/id/eprint/147918

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