Performance Comparisan Between Sliding Mode Control (Smc) And Pd-Pid Controllers For A Nonlinear Inverted Pendulum System
The objective of this paper is to compare the time specification performance between conventional controller PID and modern controller SMC for an inverted pendulum system. The goal is to determine which control strategy delivers better performance with respect to pendulum's angle and cart&#...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2010
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/1191/ http://umpir.ump.edu.my/id/eprint/1191/1/Proceeding_Paper.pdf |
| Summary: | The objective of this paper is to compare the time
specification performance between conventional controller PID and
modern controller SMC for an inverted pendulum system. The goal is
to determine which control strategy delivers better performance with
respect to pendulum's angle and cart's position. The inverted
pendulum represents a challenging control problem, which
continually moves toward an uncontrolled state. Two controllers are
presented such as Sliding Mode Control (SMC) and Proportional-
Integral-Derivatives (PID) controllers for controlling the highly
nonlinear system of inverted pendulum model. Simulation study has
been done in Matlab Mfile and simulink environment shows that both
controllers are capable to control multi output inverted pendulum
system successfully. The result shows that Sliding Mode Control
(SMC) produced better response compared to PID control strategies
and the responses are presented in time domain with the details
analysis. |
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