Stabilizing control of inverted pendulum using sliding mode control scheme
基于滑模变结构的倒立摆系统稳定控制

The sliding mode control strategy is employed to realize the stable control of the inverted pendulum system.After linearizing the inverted pendulum model,detailed control rules were designed for the stable control of the pendulum,adjusting the cart displacement and the robust control of the system based on sliding mode control method.The system's chattering was then solved by using saturation function method.Finally,Simulation results were given to prove the validity of the sliding mode control strategy.