Robust output-feedback control for the cart–pole system: A coupled super-twisting sliding-mode approach

Luis Ovalle, Héctor Ríos, Miguel Llama

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8 Scopus citations


This study presents an output-feedback controller for a cart–pole system via coupled sliding-mode algorithms. Due to the fact that this system is underactuated, a special type of sliding surface is employed instead of using a transformation to the regular form. Then, a continuous sliding-mode controller is designed using the super-twisting algorithm so that robustness of the control scheme is guaranteed. Since the proposed controller requires the knowledge of the velocities, a homogeneous sliding-mode observer is introduced to estimate such velocities. Then, in order to improve the control effort, a variable gain super-twisting algorithm is also proposed. The closed-loop stability is also guaranteed by means of input-to-state stability properties and Lyapunov function approaches. All the results are validated by means of real-time experiments, providing also a comparison between the proposed controllers and a chattering attenuation approach.

Original languageEnglish
Pages (from-to)269-278
Number of pages10
JournalIET Control Theory and Applications
Issue number2
StatePublished - 29 Jan 2019

Bibliographical note

Funding Information:
The authors gratefully acknowledge the financial support from TECNM research projects. L. Ovalle and H. Ríos also acknowledge the financial support from CONACYT 591548 and 270504, respectively.

Publisher Copyright:
© The Institution of Engineering and Technology 2018.


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