Finite and Fixed-Time State Estimation: Pendulum-Cart System

D. Gutiérrez, H. Ríos, J. A. Rosales, R. Galván-Guerra

Research output: Contribution to journalArticlepeer-review

4 Scopus citations


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.

Original languageEnglish
Pages (from-to)7139-7144
Number of pages6
Issue number1
StatePublished - Jul 2017
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2017


  • Nonlinear observers
  • Pendulum-Cart system
  • State estimation


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