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Integral-optimal sliding mode controller tuning with particle swarm optimization applied to a rotary inverted pendulum

Abstract:

This paper presents the implementation of an Integral Sliding Mode Control (ISMC) applied to a nonlinear and unstable system based on a rotary inverted pendulum (ROTPEN). The ISMC uses an optimal controller based on a linear quadratic with integral action tuned by the use of Particle Swarm Optimization (PSO) algorithm. The ISMC is used to ensure robustness against parametric uncertainties, modeling errors and external disturbances. Experimental tests are performed to verify the reference tracking and robustness of the controller tuned with PSO. Finally, the performance of the designed controlled is measured using Integral of the Square Error index (ISE).