ĐÁNH GIÁ HIỆU QUẢ BỘ ĐIỀU KHIỂN TRƯỢT DỰA VÀO XẤP XỈ HỆ THỐNG MỜ CON LẮC NGƯỢC

Abstract

The performance of a sliding mode control (SMC) based on fuzzy system approximation for an inverted pendulum is designed and evaluated in this research. SMC has been applied into general design method and it is completely insensitive to parametric uncertainty and external disturbances. Fuzzy systems are used to approximate the nonlinear component in the SMC. The SMC controller based on fuzzy system approximation is designed to ensure that the actual position of the inverted pendulum reaches the reference in a finite time and reduces a chattering phenomenon. Based on the Lyapunov theory, the stability of the system is proven. Simulation results in MATLAB/Simulink show the effectiveness of the proposed controller with the rising time achives 2.431(s), the settling time is 3.668(s), the percent overshoot is 1.811(%), the steady state error is 0.001(rad) and undesired chattering is reduced.