Adaptive neuro sliding mode control for inverted pendulum

A nonlinear sliding mode control method is presented for single inverted pendulum position tracking control based on RBF neural networks. The neuro sliding mode controller was designed with RBF neural networks and the stability of the proposed control scheme is proved by Lyapnouv theorem, also the control scheme is applied to the nonlinear inverted pendulum system, simulation studies shows the methods is effective and can applied into nonlinear control system.