Sliding mode control of inverted pendulum

This project will develop sliding mode controllers and observers for the Quanser rotational inverted pendulum. The control objective is to stabilize the inverted pendulum at the upward position from a single swing up. The control system should ensure robustness properties in respect with parametric uncertainties, measurement noise, external disturbance, small time delays. Preliminary results will be validated in simulations, after which real-time implementation and validation will be performed.

We are looking for a motivated student, able to invest himself fully into this project. Familiarity with Matlab programming is absolutely essential, as is a good command of the English language to have access to the literature. Experience with real-time applications is a plus.

Apply by contacting Alexandru Codrean.