© Springer International Publishing AG 2018. All rights reserved. This brief text proposes a state-dependent gain parameter added to a Fast Terminal Sliding Mode Control in order to restrict the input signal amplitude. The suggested controller involves the following properties: convergence in finite time to the equilibrium point, robustness against bounded persistent state perturbations and uncertainties in the model. In order to exemplify the contributions we exhibit an application to an underactuated rotational inverted pendulum, to stabilize it upwards.
|Original language||American English|
|Title of host publication||New Perspectives and Applications of Modern Control Theory: In Honor of Alexander S. Poznyak|
|Number of pages||283|
|ISBN (Electronic)||9783319624648, 9783319624631|
|State||Published - 30 Sep 2017|
Solis, C. U., & Clempner, J. B. (2017). Finite-time sliding mode controller with state-dependent gain parameter. In New Perspectives and Applications of Modern Control Theory: In Honor of Alexander S. Poznyak https://doi.org/10.1007/978-3-319-62464-8_13