MODELLING AND CONTROL OF FURUTA´S PENDULUM BY SLIDING MODES TECHNIQUE

A non-linear system is one that does not comply with the principles of homogeneity and superposition, this means that its dynamics cannot be written or expressed as the sum of the components that describe it. These systems are problems of interest for engineering, physics and mathematics, because most of real systems have variables whose behavior moves away from linear trends. In this work a hybrid architecture is proposed to control the non-linear model of Furuta's inverted pendulum, in the flatness output space, achieving a tracking of a desired trajectory. To estimate the behavior of the plane outputs, the methodology of integrating reconstructors was used, framed in a control law proposed in the concept of sliding modes