Design of rotational inverted pendulum control based on second-order sliding mode

Rotational Inverted Pendulum is a typical nonlinear, unstable and strong coupling system. How to design a control system to restore the equilibrium state quickly and stably is a problem worth studying. High order super twisting sliding mode system has the advantages of traditional sliding mode control system. Super twisting system can elimination control chatter due to the discontinuities of control variable which contain in traditional sliding mode system. The super twisting system is designed. The saturation function replaces the sign function in the super twisting control function to improve the smoothness of the control variable. The simulation shows that this design has excellent precision. Inverted pendulum has smaller movement stroke than traditional super twisting system. Control chatter is also smaller than traditional super twisting system.