Resumen
A two relay controller is robustified by a switched integral sliding mode controller in order to generate robust self-oscillations for pendulum systems. The proposed strategy assures theoretically exact robustification of the self-oscillations preserving the amplitude and frequency of the oscillations even in the presence of matched uncertainties/perturbations. The efficiency of the proposed robustifying approach is illustrated on an example of a Furuta pendulum.
Idioma original | Inglés |
---|---|
Páginas (desde-hasta) | 7163-7168 |
Número de páginas | 6 |
Publicación | IFAC-PapersOnLine |
Volumen | 50 |
N.º | 1 |
DOI | |
Estado | Publicada - jul. 2017 |
Publicado de forma externa | Sí |