Design and Implementation of a Nonlinear Centralized Controller: Underactuated System Case Study

This paper deals with the control of nonlinear systems, with a specific emphasis on controlling an underactuated system as a challenging benchmark for assessing controller performances. We present and examine a centralized sliding-mode controller designed for the benchmark system based on the Hurwitz stability concept. Additionally, we introduce adaptive optimization for controller parameters to ensure resilient performance and adaptation to both internal and external disturbances. The effectiveness of the proposed approach is confirmed by simulation and experimental results.