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The proposed modified twisting controller provides for the exact output regulation of uncertain dynamic systems with relative degree 2. The convergence rate is prescribed in advance. The fixed-time convergence is obtained as a particular case, if the transient time is uniformly bounded. An output-feedback version of the controller is presented as well.
This paper proposes robust swing up and balancing control scheme of the acrobot system based on a disturbance observer. The partial feedback linearization and LQR control method are fast and effective way to control the nominal acrobot system. However, these control method does not guarantee the robustness. Also, the limit cycle phenomenon which appears in the acrobot system around the desired unstable...
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