Publications Repository - Gdańsk University of Technology

A control problem of an inverted pendulum on a cart has been addressed in this paper. In particular, a synthesis of alternative sliding mode control for stabilisation of an inverted pendulum at an upper equilibrium point has been investigated. Hence, the feasibility of implementing the developed control system, taking into account primarily the friction of the cart against the gantry and the limited length of the gantry, in a real plant has been given. The proposed control system has been tested by simulation in Matlab/Simulink environment and satisfactory performance of its operation has been obtained.

Authors

• mgr inż. Mateusz Czyżniewski link open in new tab ,
• dr inż. Rafał Łangowski link open in new tab ,
• Dawid Klassa link open in new tab ,
• Mateusz Matwiszyn link open in new tab