An Experimental Comparison of Sliding Mode and Immersion and Invariance Adaptive Controllers forPosition-feedback Tracking of a Simple Mechanical System with Friction

Luis Cervantes-Pérez, Víctor Santibáñez, Jesús Sandoval +2

The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback trackin…