Sliding mode controller for parallel rotary double inverted pendulum: An eigen structure assignment approach

This paper proposes a special approach of sliding mode controller so called Eigen structure assignment approach for parallel rotary double inverted pendulum (PRDIP) system. This offers a simple method to control a class of under-actuated systems by reducing the higher order dynamics to simpler one. Here, a particular canonical form so called the regular form was used to produce an appropriate understanding of the reduced order sliding mode dynamics. In addition to this we adopt a robust Eigen structure assignment approach by using 'place' command in mat lab. In this the modeling of the system has been carried out through classical mechanics, considering the inertia tensors of all the principle axis.