Discontinuous Output Regulation of the Pendubot
نویسندگان
چکیده
In this work we address the problem of nonlinear output regulation of an underactuated system by means of discontinuous control actions, in particular, the sliding mode output regulator problem in the case of error feedback is considered for the Pendubot system. The theory is revisited for nonlinear systems presented in the so-called Regular form. Simulations are carried out to verify the effectiveness of the discontinuous method.
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