Sliding mode control with self-tuning law for uncertain nonlinear systems.

@article{Kuo2008SlidingMC,
  title={Sliding mode control with self-tuning law for uncertain nonlinear systems.},
  author={Tzu-Chun Kuo and Ying-Jeh Huang and Shin-Hung Chang},
  journal={ISA transactions},
  year={2008},
  volume={47 2},
  pages={
          171-8
        }
}
A robust sliding mode control that follows a self-tuning law for nonlinear systems possessing uncertain parameters is proposed. The adjustable control gain and a bipolar sigmoid function are on-line tuned to force the tracking error to approach zero. Control system stability is ensured using the Lyapunov method. Both simulation and experimental application of a planetary gear type inverted pendulum control system verify the effectiveness of the developed approach. 

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