Practical Realization of Implicit Homogeneous Controllers for Linearized Systems

This article deals with the practical implementation of implicit homogeneous controllers (IHCs) for linearized mechanical systems. The control design includes methodology to get gains IHC based on approximation system. If error enforced by linearization is vanishing state, locally measurable and bounded, can lead state origin in finite-time. allows accelerating convergence rate states. A semiexplicit algorithm provided exert digital controller. application bisection method estimates controller gain ensuring finite-time origin. complementary analysis provides a simplified reduced number computation stages but equally efficient estimation. proposed applied rotary inverted pendulum QUBE $^{\text{{{}}}}$ Servo 2 platform Quanser notation="LaTeX">$^\text{{{{}}}}$ . obtained results are compared other classical feedback validate effectiveness scheme. comparative evidence faster trajectory zone centered smaller hypervolume than one gotten controllers.