Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty

Authors

  • Alfian Ma'arif (SCOPUS ID: 57195619646), Universitas Ahmad Dahlan https://orcid.org/0000-0002-3482-971X
  • Marco Antonio Márquez Vera
  • Magdi Sadek Mahmoud
  • Samir Ladaci National Polytechnic School of Constantine
  • Abdullah Çakan
  • Jonattan Niño Parada Universidad de Los Llanos

DOI:

https://doi.org/10.18196/jrc.v3i1.12739

Keywords:

Inverted Pendulum, Backstepping, Sliding Mode Control, Nonlinear, Disturbance, Uncertainty

Abstract

The inverted pendulum system is highly popular in control system applications and has the characteristics of unstable, nonlinear, and fast dynamics. A nonlinear controller is needed to control a system with these characteristics. In addition, there are disturbances and parameter uncertainty issues to be solved in the inverted pendulum system. Therefore, this study uses a nonlinear controller, which is the backstepping sliding mode control. The controller is robust to parameter uncertainty and disturbances so that it is suitable for controlling an inverted pendulum system. Based on testing with step and sine reference signals without interference, the controller can stabilize the system well and has a fast response. In testing with disturbances and mass uncertainty, the backstepping sliding mode controller is robust against these changes and able to make the system reach the reference value. Compared with sliding mode control, backstepping sliding mode control has a better and more robust response to disturbances and parameter uncertainty.

Author Biography

Alfian Ma'arif, (SCOPUS ID: 57195619646), Universitas Ahmad Dahlan

Alfian Ma’arif (Member, IEEE) received the bachelor’s degree from the Department of Electrical Engineering, Universitas Islam Indonesia, Indonesia, in 2014, and the M.Eng. degree from the Department of Electrical Engineering, Universitas Gadjah Mada, Indonesia, in 2017., Since October 2018, he has been a Lecturer with the Department of Electrical Engineering, Universitas Ahmad Dahlan. He got the Assistance Profesor in 2020. His research interests include control systems and computer programming.

GOOGLE SCHOLAR

SCOPUS

ORCID

SINTA

RESEARCH GATE

PUBLONS

IEEE

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Published

2021-11-14

Issue

Vol. 3 No. 1 (2022): January

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