Control of the inverted pendulum system: a Smith fractional-order predictive model representation

• Published in: Sadhana (Bangalore) Vol. 45; no. 1
• Main Authors: Zangeneh-Madar, M R, Mazinan, A H
• Format: Journal Article
• Language: English
• Published: New Delhi Springer India 01.12.2020; Springer Nature B.V
• Subjects: Computer simulation; Disturbances; Engineering; Mathematical models; Nonlinear systems; Parameter uncertainty; Pendulums; Prediction models; Representations; Sliding mode control; Time lag; sliding mode control; inverted pendulum system; Smith fractional-order predictive model representation
• ISSN: 0256-2499; 0973-7677
• DOI: 10.1007/s12046-020-01356-8

The inverted pendulum system in the presence of uncertainties and external disturbances with delay is considered as one of the most applicable nonlinear systems to be used in real environments and industrial domains, extensively. The subject behind the research is to design a state-of-the-art fractional-order sliding mode control approach to stabilize the inverted pendulum angle. Subsequently, a consideration of uncertainties and external disturbances in the pendulum dynamic’s parameters such as pendulum length and chariot’s mass aims us to find an efficient technique to decrease chattering and correspondingly increase system’s performance as well. In addition, the Smith predictive model representation along with the control approach is realized as a solution of eliminating time delay. In a word, the realization of sliding mode control to deal with uncertainties and external disturbances in line with an application of fractional-order sliding surfaces for decreasing chattering under the aforementioned Smith predictive model representation to eliminate delay is taken into real consideration as remarkable novelty of research proposed. Finally, the effectiveness of the approach analyzed here is verified in the form of numerical simulations through MATLAB software, tangibly.