Control of furuta´s pendulum by sliding modes technique

In this work a hybrid architecture is proposed to control the non-linear model of Furuta's inverted pendulum, in the flatness output space, achieving a tracking of a desired trajectory. To estimate the behavior of the plane outputs, the methodology of integrating reconstructors was used, framed in a control law proposed in the concept of sliding modes.

10p cleopatrahuynh 01-06-2020 16 3   Download