Multiplicative Fault Estimation-Based Adaptive Sliding Mode Fault-Tolerant Control Design for Nonlinear Systems

Table 1

Nonlinear system parameters.

System parameters	Values	Units
Motor inertia	3.7 × 10^−3	kg m^2
Link inertia	9.3 × 10^−3	kg m^2
Pointer mass	0.21	kg
Link length	0.15	m
Torsional spring	0.18	Nm/rad
Viscous friction	4.6 × 10^−3	M
Amplifier gain	8 × 10^−2	Nm/V