© 2017 In this paper the problem of state estimation for the Pendulum-Cart System is addressed. Different high-order sliding-modes techniques are applied for such a mechanical system. The mathematical model is studied and a couple of high-order sliding-modes observers are proposed to estimate the state, in spite of disturbances; exactly and in a finite or fixed-time, respectively. Some experiments and comparisons are presented to illustrate the effectiveness of the presented algorithms.
Gutiérrez, D., Ríos, H., Rosales, J. A., & Galván-Guerra, R. (2017). Finite and Fixed-Time State Estimation: Pendulum-Cart System. IFAC-PapersOnLine, 7139-7144. https://doi.org/10.1016/j.ifacol.2017.08.550