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Hierarchical sliding mode control and disturbance observer for the double inverted pendulum on a cart
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This paper presents a control approach for the double inverted pendulum on a cart (DIPC) by combining Hierarchical Sliding Mode Control (HSMC) and Disturbance Observer (DOB). The proposed method utilizes HSMC to ensure balance in both the pendulum angles and a cart position, while the DOB accurately estimates the system's disturbance.
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