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Khier Benmahammed
Djamila Zehar
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Khier Benmahammed
Djamila Zehar
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Global Journal of Computer Science and Programming

Vol. 1(2)

Full Length Research Paper 

Optimal sliding mode control of the pendubot

Djamila Zehar and Khier Benmahammed

1Electromechanic Department, University Mohamed Elbachir Elibrahimi of Bordj Bou Arreridj, Algeria 2LSI laboratory, University Ferhat Abbas of Setif, Algeria


The main objective of this work it was the control of the pendubot, which is a second order underactuated system, belongs to the second class, using an optimal incremental sliding mode control, where the system is decomposed in two sub systems and the chosen sliding surfaces are linearly related. In order to optimize the parameters of these surfaces we introduce the linear matrix inequality (LMI) approach which has been exploited against the problems in the forme Lyapunov function that can be transformed to a form of LMI problem. The simulation results have shown the efficiency of this control, the system could be stable and could follow perfectly the desired trajectory, so we were able to resolve the general and known problem of swing of the pendubot.

Keywords: Pendubot, underactuated system, sliding mod control, optimality, stability, tracking.