Simultaneous Multiplicative and Additive Actuator Faults Estimation-Based Sliding Mode FTC for a Class of Uncertain Nonlinear System

Table 1

System parameters.

Symbol	Description	Value	Unit
	Pendulum point mass	0.2
	Cart mass	0.8
	From mass point to joint distance	0.5
	Gravitational constant	9.81
	Rail length	2