Finite-Time State Estimation for an Inverted Pendulum under Input-Multiplicative Uncertainty
A sliding mode observer is presented, which is rigorously proven to achieve finite-time state estimation of a dual-parallel underactuated (i.e., single-input multi-output) cart inverted pendulum system in Little White Dress the presence of parametric uncertainty.A salient feature of the proposed sliding mode observer design is that a rigorous analy