@article{MAKHILLJEAS2020152419505,
    title = {Performance Investigation of a Two Link Manipulator Stability in the Presence of Torque
Disturbance using Optimal Sliding Mode Controller},
    journal = {Journal of Engineering and Applied Sciences},
    volume = {15},
    number = {24},
    pages = {3788-3792},
    year = {2020},
    issn = {1816-949x},
    doi = {jeasci.2020.3788.3792},
    url = {https://makhillpublications.co/view-article.php?issn=1816-949x&doi=jeasci.2020.3788.3792},
    author = {Mustefa,Messay and},
    keywords = {Manipulator,sliding mode controller,Proportional Integral Derivative (PID) controller},
    abstract = {In this study, a two-link manipulator system
stability performance is designed and analyzed using
optimal control technique. The manipulator system is
highly nonlinear and unstable. The system is modelled
using Lagrangian equation and linearized in upward
unstable position. The closed loop system is designed
using optimal sliding mode controller. The system is
compared with a known PID controller with an impulse
applied and disturbance torques and a promising results
has been obtained.}
    }