Research on Sliding Mode Variable Structure Controller for Inverted Pendulum Based on Model Design

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Integrated Circuits and Embedded Systems ›› 2022, Vol. 22 ›› Issue (1) : 33-38.

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Research on Sliding Mode Variable Structure Controller for Inverted Pendulum Based on Model Design

Chen Cheng, Chang Guanghui, Wu Jiechang, Liu Shuyong

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Abstract

An inverted pendulum controller design method based on model-based design (MBD) is proposed.Compared with the traditional software design process, MBD has the function of code generation and early algorithm verification.Firstly, the simulation model of inverted pendulum was established by Lagrange equation.Then, an algorithm model of LMI based inverted pendulum sliding mode variable structure controller is designed, which is combined with the controlled model to form a control integrated system in the simulation environment and the simulation experiment is carried out.Then the sliding mode variable structure efficient embedded code is automatically generated and integrated into the inverted pendulum control software program, which is integrated and deployed into the embedded circuit board to form the physical inverted pendulum control system.The feasibility of MBD method is verified by comparing the results of real object and simulation system.

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Simulink simulation / sliding model variable structure / LMI / code automatic generation

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Chen Cheng, Chang Guanghui, Wu Jiechang, Liu Shuyong. Research on Sliding Mode Variable Structure Controller for Inverted Pendulum Based on Model Design[J]. Integrated Circuits and Embedded Systems. 2022, 22(1): 33-38

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