Sliding Mode Variable Structure Control for Inverted Pendulum Systems

This program is designed for sliding mode variable structure control applied to inverted pendulum systems. It has been experimentally tested and debugged on a double inverted pendulum, demonstrating correct operation. The controller can be adapted to other pendulum types or even robotic systems. The key advantage of this control method lies in its ability to maintain system stability when handling uncertainties and external disturbances. The implementation typically involves defining a sliding surface based on system states (e.g., pendulum angle and angular velocity), designing a discontinuous control law that drives the system trajectory toward the sliding surface, and applying chattering reduction techniques. Core functions may include state-space modeling, Lyapunov stability-based gain calculation, and real-time pulse-width modulation for actuator control. Future improvements could involve validating the program’s performance and reliability through broader experiments, refining the control gain tuning process, and optimizing the discontinuity smoothing algorithms for enhanced real-world applicability.