Szukana fraza: [Abstract = The classical model of an inverted pendulum on a cart is considered as an application example, in order to highlight the complete design procedure, including the mathematical aspects of the nonlinear disturbance de\-coupling method based on the nonlinear differential geometry, as well as the feasibility and efficiency of the proposed approach. Extensive simulations of the benchmark process and Monte Carlo analysis are practical tools for assessing experimentally the robustness and stability properties of the developed fault tolerant control scheme, in the presence of modelling and measurement errors.]

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