Ters sarkaç sistemi için kayma mod kontrolü

The main aim of this study is to design sliding mode control for both linear and nonlinear systems; an inverted pendulum system is selected as an example to illustrate the advantage of sliding mode control for linear and nonlinear systems with uncertainties. The inverted pendulum is linearized for upright and unstable equilibrium point and then state feedback and optimal quadratic regulator controllers are designed for the system without uncertainties the results are discussed in the seminar of thesis. In this thesis sliding mode control is designed for the linear systems with uncertainties based on Ackermann?s formula and linear matrix inequality (LMI). The special problems of the inverted pendulum system such as swing-up and stabilizing problems are solved. Furthermore stabilizing cart position with swinging up and stabilizing problems of nonlinear inverted pendulum are discussed and a new approach is developed.