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Abstract
A control problem of an inverted pendulum on a cart has been addressed in this paper. In particular, a synthesis of alternative sliding mode control for stabilisation of an inverted pendulum at an upper equilibrium point has been investigated. Hence, the feasibility of implementing the developed control system, taking into account primarily the friction of the cart against the gantry and the limited length of the gantry, in a real plant has been given. The proposed control system has been tested by simulation in Matlab/Simulink environment and satisfactory performance of its operation has been obtained.
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- Publication version
- Accepted or Published Version
- DOI:
- Digital Object Identifier (open in new tab) 10.1109/MMAR49549.2021.9528458
- License
- Copyright (2021 IEEE)
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Details
- Category:
- Conference activity
- Type:
- publikacja w wydawnictwie zbiorowym recenzowanym (także w materiałach konferencyjnych)
- Language:
- English
- Publication year:
- 2021
- Bibliographic description:
- Czyżniewski M., Łangowski R., Klassa D., Matwiszyn M.: A case study of robust sliding mode control applied to inverted pendulum on a cart// / : , 2021,
- DOI:
- Digital Object Identifier (open in new tab) 10.1109/mmar49549.2021.9528458
- Sources of funding:
-
- Young Researcher Support Program, Polish MEiN
- Verified by:
- Gdańsk University of Technology
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