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Sliding Mode Control of a Single Rigid Hydraulically Actuated Manipulator

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Figure

Fig. 1. Schematic of the single rigid arm.
Fig. 3. Block diagram of the control system
Fig. 6. Desired rectangular input trajectory
Fig. 7. Tracking error for rectangular input (a) for M = 0 kg and (b) for M = (b) 130 kg
+3

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