Karl-Christian Schwab, Lennart Schräder, Paolo Mercorelli, Jan Thore Lassen, "Sliding Mode and Model Predictive Control for Inverse Pendulum," WSEAS Transactions on Systems and Control, vol. 14, pp. 190-195, 2019, DOI:
Karl-Christian Schwab, Lennart Schräder, Paolo Mercorelli, Jan Thore Lassen. Sliding Mode and Model Predictive Control for Inverse Pendulum.
WSEAS Transactions on Systems and Control. 2019;14:190-195.
WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763, E-ISSN: 2224-2856
Volume 14, 2019
Sliding Mode and Model Predictive Control for Inverse Pendulum
Authors: , , ,
Abstract: In the present work two different rules are applied to the system of the inverse pendulum. On the one hand, Sliding Mode Control (SMC) is used to control the position and the angular velocity of the pendulum attached to the cart. On the other hand, Model Predictive Control (MPC) is implemented in order to control the trajectory of the cart in accordance with a desired movement profile. In order to counteract phenomena such as chattering as effectively as possible, various measures are implemented within the Sliding Mode Control.
Pages: 190-195 WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 14, 2019, Art. #23 DOI: *As the DOI is a unique identifier, it is already available in the pdf version.
**The DOI link will be activated in the first midst of January 2026.
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