Control of a perturbed under-actuated mechanical system

Chadia Zayane, Taous-Meriem Laleg-Kirati, Ahmed Chemori

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations


In this work, the trajectory tracking problem for an under-actuated mechanical system in presence of unknown input disturbances is addressed. The studied inertia wheel inverted pendulum falls in the class of non minimum phase systems. The proposed high order sliding mode control architecture including a controller and differentiator allows to track accurately the predefined trajectory and to stabilize the internal dynamics. The robustness of the proposed approach is illustrated through different perturbation and output noise configurations.
Original languageEnglish (US)
Title of host publication2015 IEEE Conference on Control Applications (CCA)
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Print)9781479977871
StatePublished - Nov 5 2015


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