In this research, an inertia wheel pendulum with a single wheel is modeled using a sliding mode control. The inertia wheel pendulum has two equilibrium points: the downward position at 0 degrees (stable) and the upward position at 180 degrees (unstable). The inertia wheel pendulum is controlled to achieve an upward position by utilizing the torque generated by the inertial wheel. The Lagrange equation is used to help the pendulum rise to an upward position by utilizing the torque generated. The sliding surface design considers the Lyapunov stabilization concept as one aspect of stabilizing the pendulum. The system will be given a different starting angle until it is found that the starting angle can be controlled with the sliding mode control system. The implementation of the saturation function is also applied to reduce chattering that occurs in the sliding mode control system. The modeling results show that the sliding mode control can make the inertia pendulum balance in an unstable position with a maximum angle of 14 degrees.

Original languageEnglish
Article number040007
JournalAIP Conference Proceedings
Issue number1
Publication statusPublished - 26 Mar 2024
Event2nd International Conference on Technology, Informatics, and Engineering, ICon-TINE 2022 - Hybrid, Malang, Indonesia
Duration: 23 Aug 202224 Aug 2022


  • inertia wheel
  • sliding mode control
  • stabilization


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