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Variable structure controller for an inverted pendulum

Yao, L.N. and Wang, H. and Zhou, J. and Yue, H. (2004) Variable structure controller for an inverted pendulum. Control Theory and Applications, 21 (5). pp. 724-727.

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Abstract

Using the Lyapunov direct method,a variable structure controller is proposed for the stabilization and robust control of a single inverted pendulum.Theoretical analysis and computer simulations have illustrated that this control scheme can stabilize the pendulum, control the cart displacement and also realize the robust control when the system is subjected to parameter changes.