adaptive and sliding mode control for non- linear systems

this paper deals with a globally convergent adaptive and sliding mode control of a cart-pole inverted pendulum for trajectory tracking in the presence of a bounded measurement noise and parameter uncertainty. two kinds of controllers have been used for evaluation of tracking error in presence of a bounded noise; as a result, we want to compare that at what time we can see the convergence of tracking error and which controller can perform better? simulation results on a cart-pole inverted pendulum are shown for trajectory tracking in presence of impulse disturbance.