논문 국내 국제전문학술지(SCI급) A study on the robust control of an inverted pendulum using discrete sliding-mode control
- 학술지 구분 국제전문학술지(SCI급)
- 게재년월 2006-01
- 저자명 배성민
- 학술지명 INTELLIGENT CONTROL AND AUTOMATION
- 발행처명 SPRINGER-VERLAG BERLIN
- 발행국가 국내
- 논문언어 한국어
홈페이지논문 초록 (Abstract)
In this paper, discrete sliding mode controller (DSMC) with sliding-like condition is evaluated experimentally the robustness point of view. DSM C was modified to use a pseudo-sliding methodology and a variable slidin g gain methodology. DSMC with a pseudo-sliding methodology and a variabl e sliding gain methodology perfectly eliminate a chattering problem and can control the system use a small control action. The usefulness of th e designed DSMC in this paper is demonstrated by the control of an inver ted pendulum system and the robustness of DSMC experimentally evaluated for model error. To provide a performance benchmark with respect to rob ustness, a direct comparison was made against linear quadratic control.