State feedback block control regulation of the Pendubot

This work presents the problem of nonlinear regulation of an underactuated system that is treated by means of sliding mode control actions combined with block control technique. The state feedback output regulator based on sliding mode control, is applied to the Pendubot system. The transformation of the original system to regular form and then block control technique are used to design a sliding manifold with asymptotically stable motion. To verify the effectiveness of the algorithm simulations are carried out. Also, performance issues of the proposed algorithm are illustrated in a real time experiment.