Pareto Design of Decoupled Sliding-Mode Controllers for Nonlinear Systems Based on a Multiobjective Genetic Algorithm

Table 1

Inverted pendulum parameters.

The mass of the pole	𝑀1	0.5
The mass of the cart	𝑀2	2
The half length of the pole	𝐿	0.5
The inertia moment of the cart and pole	𝐽	0.4
The friction constant of the pole	𝐶	0.1
The friction constant of the cart	𝑓𝑟	0.25
The gravity acceleration	𝑔	9.81
The force coefficient	𝛼	3