Sliding mode control architecture for stabilization and tracking control of planar inverted pendulum

In this paper, a sliding mode control architecture consisting of four control blocks is proposed for the stabilization and control of a planar inverted pendulum. Optimal values of the controller constants are obtained using whale optimization algorithm. Different shapes of tracking path like circular, elliptical, infinity-shaped, etc., are considered to verify the tracking capability of the suggested method. Stability and robustness of the suggested control system are analyzed using Lyapunov stability criteria. Through various simulations, it is found that the proposed control strategy yields significantly improved tracking performance and enhanced robustness toward process parameter perturbations and load disturbances compared to conventional PID controller.