Finite-Time Control for a Class of Inverted Pendulum Systems

Finite-Time Control for a Class of Inverted Pendulum Systems

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This work addresses the finite-time control click here problem for a class of nonlinear inverted pendulum systems.A series of homogeneous controllers, which are capable of guaranteeing the locally finite-time stability for the closed-loop systems, are first developed using the adding one power integrator method and backstespping technique.Subsequently, the nested saturation control approach has been further proposed in order to achieve global finite-time stability after appropriately adjusting the saturation level.Furthermore, the simulation results emtek 2113 are given to validate the effectiveness of the proposed strategy.