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Based on the Lyapunov stability theorem, an adaptive controller is proposed for the inverted pendulum in this paper. The design of the robust controller can be used to suppress the uncertainties. The simulation results of inverted pendulum control have demonstrated the feasibility of the proposed method.
The design of an adaptive sliding mode control (SMC) scheme is proposed in this paper for stabilizing a class of dynamic systems with matched and mismatched perturbations. Two methods for designing a novel sliding surface function are introduced first. By utilizing a pseudocontrol input in the sliding surface function, one cannot only suppress the mismatched perturbations in the sliding mode, but...
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