Research Article
Robust Control of Underactuated Systems: Higher Order Integral Sliding Mode Approach
Table 1
Parameters and values used in equations.
| Parameter | Description | Nominal values | Units |
| | Gravitational acceleration | | m/s2 | | Mass of ball | | kg | | Mass of beam | | kg | | Length of beam | | m | | Resistance of armature of the motor | | Ω | | Moment of inertia of motor | | Nm/rad/ | | Torque constant of motor | 0.0075 | Nm/A | | Gear ratio | 4.28 | — | | Radius of arm connected to servomotor | 0.04 | m | | Moment of inertia of beam | 0.001 | | | Back emf constant value | 0.5625 | V/rad/s |
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