Simulation of a Linear Double Inverted Pendulum Using Sliding Mode Variable Structure Control

In the MATLAB environment, we implement sliding mode variable structure control algorithm to simulate and debug a linear double inverted pendulum system, investigating its application in sliding mode control systems. The simulation covers mathematical modeling of the pendulum dynamics, design of sliding surfaces, and chattering suppression techniques. Key MATLAB functions include ode45 for system integration and s-function blocks for real-time control implementation. Sliding mode control systems represent an advanced control methodology capable of handling nonlinear systems with strong robustness and adaptability, making them widely applicable in industrial production and scientific research. The control algorithm employs switching functions to drive system states toward predefined sliding surfaces, ensuring stability despite uncertainties. Through this research, we analyze the effectiveness of sliding mode variable structure control in stabilizing the linear double inverted pendulum, examining performance metrics such as settling time and overshoot. The study provides references and benchmarks for further exploration of sliding mode control applications, including parameter tuning guidelines and comparative analysis with traditional PID controllers. The implementation demonstrates how to handle system nonlinearities and disturbances through boundary layer techniques and saturation functions.