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Report by Prince Guria is a document available to read on EtoBox.

The document outlines the design of a nonlinear sliding mode controller for the upright balancing of a Rotary Inverted Pendulum System, detailing model parameters and state equations. It describes the stability conditions and tuning parameters for the controller, which successfully stabilizes the pendulum against initial disturbances of up to 25 degrees with settling times of approximately 1 second for alpha and 3 seconds for theta. The controller

Author

Prince Guria

Language

EN