State estimation of rotary inverted pendulum using HOSM observers: Experimental results
Résumé
This paper presents the observer design for the state estimation of the rotary inverted pendulum (RIP) system. A Takagi-Sugeno (T-S) fuzzy descriptor ap- proach is used for modeling the nonlinear dynamic system. Two higher-order sliding mode (HOSM) observers, based on the super-twisting algorithm, are proposed and applied to the RIP with real-time implementation. The experimental results illus- trate the finite-time convergence and accuracy of the state estimates of the designed observers.