Integral Sliding Modes with Nonlinear -Control for Time-Varying Minimum-Phase Underactuated Systems with Unmatched Disturbances

Figure 7

Effect of using the -controller. The first shows the behavior of the link position error (a), joint position error (b), and the sliding surface (c), when the -control is absent. The following shows the behavior of the same signals when the -control is applied.

(a)

(b)

(c)