Finite-Time Control for a Class of Inverted Pendulum Systems

Finite-Time Control for a Class of Inverted Pendulum Systems

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This work addresses the finite-time control problem for a class of nonlinear inverted pendulum systems.A series of homogeneous controllers, which are capable of 5x4x3 box guaranteeing the locally finite-time stability for the closed-loop systems, are first developed using the adding one power integrator method and backstespping technique.Subsequently, the nested saturation control approach has been further proposed in order to achieve global finite-time stability after appropriately adjusting the saturation level.Furthermore, the simulation results are given to validate 15-eg2373cl the effectiveness of the proposed strategy.