Comparative Study on Implementation of PID Control Architecture and Sliding Mode Control With IoT Integration on Inverted Pendulum Systems

Abstract

In this chapter, the issue of using sliding mode control to stabilize an inverted pendulum system is examined. The goal is to keep the pendulum in an upright position by giving the cart the proper control inputs. To achieve system stabilization, sliding mode control, a type of variable structure control, is used. This control strategy entails creating control systems with the intention of maintaining the system state within a restricted area close to a switching function. Numerous real-world situations, including aerial landing pads over water, walking balance systems for people, and cart inverted pendulum systems, make use of the dynamics of inverted pendulum systems. Due to its inherent instability and nonlinearity, designing a controller for this underactuated, non-minimum phase system is difficult.