Research Article
Multiplicative Fault Estimation-Based Adaptive Sliding Mode Fault-Tolerant Control Design for Nonlinear Systems
Table 1
Nonlinear system parameters.
| System parameters | Values | Units |
| Motor inertia | 3.7 × 10−3 | kg m2 | Link inertia | 9.3 × 10−3 | kg m2 | Pointer mass | 0.21 | kg | Link length | 0.15 | m | Torsional spring | 0.18 | Nm/rad | Viscous friction | 4.6 × 10−3 | M | Amplifier gain | 8 × 10−2 | Nm/V |
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