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YAZDANNIK / inverted_pendulum_on_cart_smc

this is simple inverted pendulum on a cart plant controlled by sliding mode control(SMC)
MIT License
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question for the stability #1

Open xinyuxuan opened 1 year ago

xinyuxuan commented 1 year ago

can i ask u something about sliding mode control stability in the inverted pendulm? how do u choose the S? how do u prove the stability about the sliding mode control? hope for replying . thank you very much

YAZDANNIK commented 1 year ago

sorry for late response, The goal is to drive the system states onto this surface and then maintain them there. In the context of my code, the sliding surface is defined as: s = theta + lambda * theta_dot;

Where theta is the pendulum angle, and theta_dot is the angular velocity. The parameter lambda determines the weighting between position error and velocity error in the sliding surface.