Stabilization of a Class of Nonlinear Underactuated Robotic Systems through Nonsingular Fast Terminal Sliding Mode Control

Table 2

Performance of settling time.

	Settling time (s)
	Proposed method	1.6534	0.9457	2.5997	2.2618
Method in [36]	2.1412	1.1878	2.5640	2.1761