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An adaptive backstepping sliding mode controller, which combines both the merits of adaptive backstepping control and sliding mode control, is proposed to address the control problem of the Furuta Pendulum in the presence of external disturbances. At first, the underactuated state model of the Furuta Pendulum has been divided into two separate subsystems. Then a pair of first layer sliding surfaces...
In this paper, a design methodology for a novel robust adaptive integral backstepping controller for the Permanent Magnet Synchronous Motor (PMSM), has been presented in a systematic manner. Backstepping is a realistic nonlinear control design algorithm based on Lyapunov design approach, as a consequence it automatically ensures the convergence of the regulated variable to zero. Adaptation schemes...
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