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Implementation of digital controllers in embedded environment suffers from the inherent problems associated with analog-digital signals interfacing in hard real-time, therefore, the control algorithms are invariantly subjected to approximations. This paper presents a novel technique for implementation of an efficient FPGA based digital(More)
An adaptive backstepping sliding mode controller, which combines both the merits of adaptive backstepping control and sliding mode control, is proposed to address the control problem of the Furuta Pendulum in the presence of external disturbances. At first, the underactuated state model of the Furuta Pendulum has been divided into two separate subsystems.(More)
This paper presents the development of a novel adaptive backstepping sliding mode control law for temperature control of an industrial heat exchanger system. Backstepping control law has been utilized during the design of reaching mode of the sliding mode controller to ensure a smoother convergence towards sliding surface. However, in order to mitigate the(More)
The robot manipulator joint actuator dynamics and the payload variation are major factors that severely affect the overall dynamics and hence the tracking performance of the direct drives manipulator. This paper proposes a robust and computationally simple approach aimed at compensating the tracking error due to model uncertainty, actuator dynamics, and(More)
This paper presents the formulation of a novel block-backstepping based control algorithm to address the global stabilization problem of a flat underactuated inertia wheel system. The ideas behind the method are as follows. At first, state model of the inertia wheel system has been converted into block-strict feedback form. Then the control Lyapunov(More)
This paper presents the formulation of a novel block-backstepping based control algorithm to address the control problem of the well-known nonlinear benchmark two-link planar robot (acrobot) system. For the convenience and compact design, first the state model of the two-link robot has been transformed into a block-strict feedback form. Then the control(More)
This paper presents the formulation of a novel block-backstepping based control algorithm to address the stabilization problem for the well-known nonlinear benchmark TORA system. The ideas behind the method are as follows. At first, state model of the TORA system has been converted into block-strict feedback form. Then the control Lyapunov function has been(More)
This paper presents the formulation of a novel block-backstepping based control algorithm to address the stabilization problem for a generalized nonlinear underactuated mechanical system. For the convenience of compact design, first, the state model of the underactuated system has been converted into the block-strict feedback form. Next, we have(More)
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