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Design of Sliding Mode Controller Based on High-Gain Observer of Inverted Pendulum On a Cart

In this paper, the model of inverted pendulum on a cart is established, and a high-gain observer is designed to observe the angular velocity of inverted pendulum and the vehicle speed when the angle of inverted pendulum and position of the cart are known. Based on the high-gain observer, a sliding mode controller for the inverted pendulum is designed. The simulation shows the performance of high-gain observer and sliding mode controller. Specifically, in terms of high-gain observer, the simulation results show that the design of high-gain observer is effective, and show the advantages of high-gain observer in comparison with the simulation of global state observer. The design of sliding mode controller enables the system states to complete tracking commands. However, because the switching function is used in the sliding mode controller, the chattering phenomenon can be seen in the simulation. Here we consider using the saturation function to suppress the chattering phenomenon. The simulation proves that the design idea proposed in this paper is effective.