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Evaluation of discrete-time VSC on an inverted pendulum apparatus with additional dynamics

Hara M., Furuta K., Pan Y., Hoshino T.

Applied Mathematics and Computer Science

1998

Vol. 8, no 1

159-181

Discrete-time Variable Structure Control (VSC) with sliding sector is experimentally evaluated on a new rotational-type inverted pendulum apparatus including an additional dynamics which is used to investigate the robustness of the controller. It is experimentally shown that the discrete-time VS controller makes the system robust stable with respect to parameter uncertainties and gives a quick response against external disturbances, which yields a good control performance without chattering.