Robust Regulation Via Sliding Modes of a Rotary Inverted Pendulum
2000
Abstract The control of underactuated systems is an interesting topic in control theory and applications. In this paper, a robust scheme based on the combination of nonlinear regulation and sliding modes approaches is applied to a rotary inverted pendulum. These results show that this scheme compensates variations of the model parameters. Simulation results for tracking a reference signal are presented.
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