Switched integral sliding mode control for robust generation of self-oscillation in pendulum systems
Self-oscillations for pendulum systems generated by a two-relay controller are robustified by using a switched integral sliding mode control. The robustification is theoretically exact, assuring the frequency and amplitude of the oscillations remain despite the presence of matched uncertainties/perturbations. To illustrate the efficacy of the proposed robustifying strategy, an inertial wheel pendulum is considered along the chapter.
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