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• W2171276141 abstract "This work presents an approach to solve the output regulation problem for a class of nonlinear discrete-time nonminimum phase perturbed systems. Based on feedback linearization block control technique and discrete-time sliding mode (SM) control, we propose a sliding manifold on which the zero dynamics are stabilized. To enforce the robust SM motion on the designed manifold, a discrete-time super-twisting SM algorithm is implemented. The effectiveness of the proposed methodology is verified via the design of a position tracking controller for an under-actuated robotic system, the Pendubot." @default.
• W2171276141 created "2016-06-24" @default.
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• W2171276141 date "2012-12-01" @default.
• W2171276141 modified "2023-09-27" @default.
• W2171276141 title "Discrete-time sliding mode regulator for nonminimum phase systems" @default.
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• W2171276141 doi "https://doi.org/10.1109/cdc.2012.6425813" @default.
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