Multirate Output Feedback with Discrete Time Sliding Mode Control for Inverted Pendulum System

In this paper, a multirate output feedback (MROF) based on discrete time sliding mode control (DSMC) method is proposed. The MROF controller is designed to maintain the inverted pendulum at upright position by controlling the tracking position of a cart. This method is practical because it only used the output samples and the measurement of the system states feedback is not necessary. The MROF output sampling is used to estimate the unmeasured states and subsequently applied to the uncertain system. The simulation results validated the advantages of the proposed controller despite the existence of nonlinearities in inverted pendulum system.