@CHAPTER{ iet:/content/books/10.1049/pbce111e_ch13, author = {Slim Dhahri}, affiliation = {Ecole Nationale Supérieure d'Ingénieurs de Tunis, University of Tunis}, author = {Ali Ben Brahim}, affiliation = {Ecole Nationale Supérieure d'Ingénieurs de Tunis, University of Tunis}, author = {Fayçal Ben Hmida}, affiliation = {Ecole Nationale Supérieure d'Ingénieurs de Tunis, University of Tunis}, author = {Anis Sellami}, affiliation = {Ecole Nationale Supérieure d'Ingénieurs de Tunis, University of Tunis}, keywords = {discontinuous terms;fault compensation;uncertainty robustness;simultaneous actuator and sensor faults;online fault estimation information;DOFC design;nonlinear inverted pendulum and cart system;robust active fault-tolerant control scheme;dynamic output feedback controller design;LMI optimization problem;linear matrix inequalities optimization problem;TS-SMO;robust AFTC approach;Takagi-Sugeno multiple models;D-stability constraints;H∞ norm minimization;H∞ performance;pseudoactuator fault;closed-loop system;T-S sliding-mode observer;uncertain nonlinear systems;}, title = {Robust fault-tolerant control of nonlinear inverted pendulum and cart system with simultaneous actuator and sensor faults sliding-mode observer}, booktitle = The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations, publisher = {Institution of Engineering and Technology}, year = {2017}, pages = {309-345}, series = {Control, Robotics and Sensors}, doi = {10.1049/PBCE111E_ch13}, url = {https://digital-library.theiet.org/;jsessionid=2lsn35w6koltx.x-iet-live-01content/books/10.1049/pbce111e_ch13} }