The inverted pendulum system in the presence of uncertainties and external disturbances with delay is considered as one of the most applicable nonlinear systems to be used in real environments and industrial domains, extensively. The subject behind the research is to design a state-of-the-art fractional-order sliding mode control approach to stabilize the inverted pendulum angle. Subsequently, a consideration of uncertainties and external disturbances in the pendulum dynamic’s parameters such as pendulum length and chariot’s mass aims us to find an efficient technique to decrease chattering and correspondingly increase system’s performance as well. In addition, the Smith predictive model representation along with the control approach is realized as a solution of eliminating time delay. In a word, the realization of sliding mode control to deal with uncertainties and external disturbances in line with an application of fractional-order sliding surfaces for decreasing chattering under the aforementioned Smith predictive model representation to eliminate delay is taken into real consideration as remarkable novelty of research proposed. Finally, the effectiveness of the approach analyzed here is verified in the form of numerical simulations through MATLAB software, tangibly.

存在不确定性和外部干扰且具有延迟的倒立摆系统被广泛认为是在实际环境和工业领域中最适用的非线性系统之一。研究的主题是设计一种最新的分数阶滑模控制方法来稳定倒立摆角。随后，对摆锤动力学参数（如摆锤长度和战车质量）的不确定性和外部干扰的考虑，旨在使我们找到一种有效的技术来减少颤动并相应地提高系统性能。另外，史密斯预测模型表示与控制方法一起被实现为消除时间延迟的解决方案。一句话 作为研究的新奇之处，在上述史密斯预测模型表示下，采用分数阶滑动面来减少颤动的滑模控制的实现已被实际考虑，以消除延迟。最后，通过MATLAB软件以数值模拟的形式，切实地验证了本文分析的方法的有效性。