Abstract

This paper presents first order sliding mode controller and input-output linearization technique for the control of\ninverted pendulum system. Sliding mode controller is considered as an efficient tool for studying different systems due to its\naccuracy and robustness to disturbances. The stability analysis is performed by Lyapunov function for the controllers. The\nperformance of proposed controllers has been demonstrated by comparing the results of cart position and angular position of\ninverted pendulum with each other.