Robust Control of Underactuated Systems: Higher Order Integral Sliding Mode Approach

Table 1

Parameters and values used in equations.

Parameter	Description	Nominal values	Units
	Gravitational acceleration		m/s^2
	Mass of ball		kg
	Mass of beam		kg
	Length of beam		m
	Resistance of armature of the motor		Ω
	Moment of inertia of motor		Nm/rad/
	Torque constant of motor	0.0075	Nm/A
	Gear ratio	4.28	—
	Radius of arm connected to servomotor	0.04	m
	Moment of inertia of beam	0.001
	Back emf constant value	0.5625	V/rad/s