Using the Adaptive Slide Mode Control to Swing Up and Stabilize the Control of Inertial Wheel Pendulum

Inertial wheel pendulum is an interesting model of control and has many applications in practice.Many papers have discussed its stabilization of state variables. In this paper, the Adaptive Slide Mode Controller is proposed to solve the swing up and stabilization control problem of inertial wheel pendulum (IWP). The stabilization includes stabilizing angular position and velocity of the inertial wheel pendulum. The control law is designed to converge all the state variables of the inertial wheel pendulum when the model parameters vary greatly The simulation results clearly reveal that the performance of the controller is good even in the presence of disturbance and when parameters vary with time