Please use this identifier to cite or link to this item:
Title: Backstepping Sliding Mode Control for Inverted Pendulum System with Disturbance and Parameter Uncertainty
Authors: Ma'arif, A.
Vera, M.A.M.
Mahmoud, M.S.
Ladaci, S.
Çakan, Abdullah
Parada, J.N.
Keywords: Backstepping
Inverted Pendulum
Sliding Mode Control
Issue Date: 2022
Publisher: Department of Agribusiness, Universitas Muhammadiyah Yogyakarta
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. © 2022 Department of Agribusiness, Universitas Muhammadiyah Yogyakarta. All Rights Reserved.
ISSN: 2715-5056
Appears in Collections:Mühendislik ve Doğa Bilimleri Fakültesi Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collections

Files in This Item:
File SizeFormat 
document (92).pdf571.04 kBAdobe PDFView/Open
Show full item record

CORE Recommender


checked on Feb 4, 2023

Page view(s)

checked on Feb 6, 2023


checked on Feb 6, 2023

Google ScholarTM



Items in GCRIS Repository are protected by copyright, with all rights reserved, unless otherwise indicated.