%0 Journal Article
	%A Vivekanandan C. and  Prabhakar .R. and  Prema D.
	%D 2008
	%J International Journal of Electrical and Computer Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 17, 2008
	%T Stability Analysis of a Class of Nonlinear Systems Using Discrete Variable Structures and Sliding Mode Control
	%U https://publications.waset.org/pdf/9651
	%V 17
	%X This paper presents the application of discrete-time
variable structure control with sliding mode based on the 'reaching
law' method for robust control of a 'simple inverted pendulum on
moving cart' - a standard nonlinear benchmark system. The
controllers designed using the above techniques are completely
insensitive to parametric uncertainty and external disturbance. The
controller design is carried out using pole placement technique to find
state feedback gain matrix , which decides the dynamic behavior
of the system during sliding mode. This is followed by feedback gain
realization using the control law which is synthesized from 'Gao-s
reaching law'. The model of a single inverted pendulum and the
discrete variable structure control controller are developed, simulated
in MATLAB-SIMULINK and results are presented. The response of
this simulation is compared with that of the discrete linear quadratic
regulator (DLQR) and the advantages of sliding mode controller over
DLQR are also presented
	%P 856 - 862