In this paper, the abilities of Sliding Mode Control are shown its abilities in both simulation and experiment results. On Matlab/Simulink simulation, Sliding Mode Control proves its advantages over LQR control. Then, experiments show the results of applying a sliding control for real model. | Journal of Technical Education Science 01 2020 56 Ho Chi Minh City University of Technology and Education TRAJECTORY TRACKING SLIDING MODE CONTROL FOR CART AND POLE SYSTEM Nguyen Minh Tam1 Huynh Xuan Dung1 Nguyen Phong Luu1 Le Thi Thanh Hoang1 Hong Gia Bao1 Nguyen Van Dong Hai1 Truong Thanh Liem2 Mircea Nitulescu3 Ionel Cristian Vladu3 1 Ho Chi Minh City University of Technology and Education HCMUTE Vietnam 2 Ho Chi Minh city University of Transport Vietnam 3 University of Craiova Romania Received 12 01 2019 Peer reviewed 18 02 2019 Accepted for publication 29 4 2019 ABSTRACT Cart and Pole is a classical model in the control laboratories for testing control algorithm. Balancing control at equilibrium the point has been operated many times on this model with various methods. However a control algorithm that makes system to track a suggested trajectory when stability requirement is guaranteed by mathematics is still opened. In this paper the authors suggest using a sliding mode control a nonlinear algorithm- to stabilize cart and pole system at an equilibrium point. Then this algorithm controls the cart to track the trajectory of sine signal and pulse signal when still stabilizing pendulum on inverted position. Sliding Mode Control method is familiar in control and automation. In this paper the abilities of Sliding Mode Control are shown its abilities in both simulation and experiment results. On Matlab Simulink simulation Sliding Mode Control proves its advantages over LQR control. Then experiments show the results of applying a sliding control for real model . Keywords cart and pole sliding control LQR control balancing control trajectory tracking control. new equilibrium is far from an initial 1. INTRODUCTION position the system is un-stabilized. In order Cart and Pole C amp P is a classical model to solve this problem in this paper we in control engineering. By practising on this propose a sliding mode control SMC model methods to stabilize SIMO simple .
