Title :
Comments on ´design of a stable sliding-mode controller for a class of second-order underactuated systems´
Author_Institution :
Dept. of Control & Instrum. Eng., Korea Univ., Choongnam, South Korea
Abstract :
In the above paper [1], additional conditions are required for the sliding-mode parameters to avoid the singularity, and some of simulation results do not match up to the theoretical one. In the following remark, the conditions for the controller in [1] to avoid singularity are given.
Keywords :
control system synthesis; stability; variable structure systems; second-order underactuated systems; singularity; sliding-mode parameters; stable sliding-mode controller design;
Journal_Title :
Control Theory & Applications, IET
DOI :
10.1049/iet-cta.2009.0345
