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Nonminimum‐phase output tracking in causal systems using higher‐order sliding modes
Author(s) -
Baev S.,
Shtessel Y.,
Shkolnikov I.
Publication year - 2007
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.1205
Subject(s) - control theory (sociology) , nonlinear system , observer (physics) , tracking (education) , tracking error , mathematics , internal model , forcing (mathematics) , stability (learning theory) , exponential stability , polynomial , phase (matter) , computer science , control (management) , physics , artificial intelligence , mathematical analysis , psychology , pedagogy , quantum mechanics , machine learning
Asymptotic output tracking in a class of causal nonminimum‐phase uncertain nonlinear systems is addressed via higher‐order sliding modes (HOSMs). Local asymptotic stability of the output‐tracking error dynamics is provided. An output reference profile and an external disturbance forcing the internal dynamics are defined by an unknown linear exosystem. Its characteristic polynomial (which is used in the output‐tracking control algorithm) is identified online by using a HOSM parameter observer. A numerical example illustrates efficiency of the developed HOSM control algorithm. Copyright © 2007 John Wiley & Sons, Ltd.