Robust sliding mode control applied to double inverted pendulum system

Sonia Mahjoub*, Faiçal Mnif, Nabil Derbel

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

1 Citation (Scopus)


A three hierarchical sliding mode control is presented for a class of an underactuated system which can overcome the mismatched perturbations. The considered underactuated system is a double inverted pendulum (DIP), can be modeled by three subsystems. Such structure allows the construction of several designs of hierarchies for the controller. For all hierarchical designs, the asymptotic stability of every layer sliding mode surface and the sliding mode surface of subsystems are proved theoretically by Barbalat's lemma. Simulation results show the validity of these methods.

Original languageEnglish
Pages (from-to)222-228
Number of pages7
JournalAIP Conference Proceedings
Publication statusPublished - 2009
Event2nd Mediterranean Conference on Intelligent Systems and Automation, CISA 2009 - Zarzis, Tunisia
Duration: Mar 23 2009Mar 25 2009


  • Manipulators
  • Mismatched perturbation
  • Non linear system
  • Robust control
  • Underactuated systems
  • Variable structure systems

ASJC Scopus subject areas

  • General Physics and Astronomy


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