Sliding mode block control regulation of the Pendubot

In this work, the problem of nonlinear regulation of an underactuated system is treated by means of sliding mode continuous control actions combined with block control technique. The sliding mode state feedback output regulator based on the super twisting algorithm, is applied to the Pendubot system. The transformation of the original system to regular form and then block control technique are used to design a sliding manifold with asymptotically stable motion. To verify the effectiveness of the method, simulations are carried out.