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Control Of The Pendubot Using Sliding Mode Control Techniques

This paper presents the design of the control law on the basis of sliding control techniques for Pendubot system. The mathematical model of the system is built to Pendubot platform for the design of control laws. A hierarchical sliding mode controller is designed to achieve the objective of stabilizing Pendubot in unstable equilibrium point of it. The saturation function is included to replace signum function to reduce chattering phenomena in the control law. The control law is verified through simulation results using Matlab software.

Từ khóa: Control Techniques, The Pendubot, Sliding Mode Control Techniques

6 p ovanketv4 16/11/2016 465 6

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