Optimal sliding mode cascade control for stabilization of underactuated nonlinear systems

Kenneth R. Muske, Hashem Ashrafiuon, Sergey Nersesov, Mehdi Nikkhah

Research output: Contribution to journalArticlepeer-review

27 Scopus citations


This paper presents an optimal sliding mode cascade control for stabilization of a class of underactuated nonlinear mechanical systems. A discrete-time, nonlinear model predictive control structure is used to optimally select and update the parameters of the sliding mode control surfaces at specified intervals in order to achieve a desired performance objective. The determination of these surface parameters is subject to constraints that arise from the stability conditions imposed by the sliding mode control law and the physical limits on the system such as input saturation. Nominal stability of the optimal cascade control structure is demonstrated and its robust performance is illustrated using an experimental rotary inverted pendulum system.

Original languageEnglish (US)
Article number021020
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Issue number2
StatePublished - Jan 23 2012
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications


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