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The objective of this paper is to compare the robustness performance of continuous time periodic controller with conventional non-linear sliding mode controller (SMC) for a highly non-linear system cart-inverted pendulum. The goal is to determine which control strategy delivers better performance to pendulum's angle and cart's position. It is observed that although both the controllers are capable...
In this paper, a new adaptive controller is proposed for ultra-local model based control. The concept is based on the algebraic derivation techniques to estimate the two ultra-local model parameters. A comparison study with the control method of Fliess-Join which is based on some elementary differential algebra is developed. The robustness of the ultra-local model controllers with respect to noises,...
This article is concerned with the design and implementation of a robust position trajectory tracking controller for a permanent magnet synchronous motor (PMSM). The information on the angular position, provided by a classical resolver, is here complemented with an observer based phase lock loop (PLL) circuit which accurately renders the position and the angular velocity of the rotor. A Backstepping...
The objective of the present work is the global stabilization of a cart-pendulum system. First, an energy shaping algorithm is developed to bring up the pendulum to the close vicinity of its upright equilibrium point. The energy control technique employed here also takes care of the practical constraint of limited cart track length. Next, a sliding mode controller (SMC) does the task of keeping the...
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