1 Control and Systems Eng. Dept. at University of Technology



The design of an H2 sliding mode controller for a mobile inverted
pendulum system is proposed in this paper. This controller is conducted to stabilize
the mobile inverted pendulum in the upright position and drive the system to a
desired position. Lagrangian approach is used to develop the mathematical model
of the system. The H2 controller is combined with the sliding mode control to give a
better performance compared to the case of using each of the above controllers
alone. The results show that the proposed controller can stabilize the system and
drive the output to a given desired input. Furthermore, variations in system
parameters and disturbance are considered to illustrate the robustness of the
proposed controller.