SLIDING MODE CONTROL WITH PROPORTIONAL-INTEGRAL COMPENSATION AND APPLICATION TO AN INVERTED PENDULUM SYSTEM

This paper proposes a new method for designing a variable structure controller in the presence of load disturbance or plant parameter variation. In conventional methods, servo tracking is achieved by a variable structure controller designed using integral compensation. However, the proposed method employs proportional compensation as well as integral compensation, and optimal proportional and integral gain for stabilizing a closed-loop system can be obtained by solving the Riccati equation. As a result, robust servo tracking can be achieved and further, transient response is better than that of conventional methods. The proposed method is applied to an inverted pendulum system, and its effectiveness is demonstrated by both simulation and experiment.