Variable structure controller for an inverted pendulum

L.N. Yao, H. Wang, J. Zhou, H. Yue

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


Using the Lyapunov direct method,a variable structure controller is proposed for the stabilization and robust control of a single inverted pendulum.Theoretical analysis and computer simulations have illustrated that this control scheme can stabilize the pendulum, control the cart displacement and also realize the robust control when the system is subjected to parameter changes.
Original languageEnglish
Pages (from-to)724-727
Number of pages4
JournalControl Theory and Applications
Issue number5
Publication statusPublished - 2004


  • Lyapunov direct method
  • structure controller
  • stochastic control
  • control systems


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