CART-PENDULUM SYSTEM

I made some experiments using an output feedback Sliding Mode controller, the system only has position sensors. The control objective is to stabilize the pendulum at the top and cart in the center of the rail. The control uses information from an Global Sliding Mode Observer, it illustrates the applicability of the theoretical results obtained as well as the structure of the observer and its gain design (the gains are not tuned by trial and error as is generally achieved in experiments ). We also introduce external blows with the hand trying to simulate an external disturbance.