Harmony Search based Adaptive Sliding Mode Control for Inverted Pendulum

An Adaptive Sliding Mode Controller (ASMC) is proposed for Inverted Pendulum to track the desired angular position of rod. The Sliding Mode Control (SMC) has been used to deal with the system nonlinearity and unmodeled dynamics. Time-varying plant parameters and certain unbounded disturbances alter the gain of SMC. Hence, adaptive control method is used to find and update SMC gain in running condition. Constants of sliding surface are optimized using Harmony Search (HS). The effectiveness and applicability of the proposed approach are validated by extensive simulation for the nonlinear inverted pendulum to track desired angular position. The proposed ASMC based on HS is robust against un-modeled dynamics, approximated errors and disturbances due to better multi-parameter adjustments in HS.