Application and Simulation Study of the Backstepping-sliding Mode-control on Pendulum

The sliding mode controller is designed to realize the track-control of the input signal based on the backstepping design theory of sliding mode control when inverted pendulum is controlled object.The backstepping-sliding mode-control permits robustness for the system over- all the response time,but the robusteness of the conventional backstepping-sliding mode-control system only resides in its sliding mode.The rapidness and stability of the backstepping-sliding mode-control is proved better than the other methods.And at the same time the backstepping- sliding mode-control can reduce the occurrence of shiver and realize the real-time track.