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Output feedback sliding‐mode control with unmatched disturbances, an ISS approach
Author(s) -
Aparicio Andrea,
Castaños Fernando,
Fridman Leonid
Publication year - 2016
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.3548
Subject(s) - control theory (sociology) , sliding mode control , robustness (evolution) , output feedback , state observer , robust control , upper and lower bounds , computer science , mathematics , nonlinear system , control (management) , control system , engineering , artificial intelligence , physics , mathematical analysis , biochemistry , chemistry , quantum mechanics , electrical engineering , gene
Summary The robustness properties of a first‐order sliding‐mode controller are combined with those of an added linear term in order to obtain a closed loop that shows input‐to‐state stability with respect to matched and unmatched disturbances, of which an upper bound might not be known, using only output information. The output under consideration can have any relative degree. Also, a transformation of the state into a novel output normal form is presented. The zero dynamics are considered unstable and perturbed, so a methodology for defining an observer and a virtual control for it is presented. Copyright © 2016 John Wiley & Sons, Ltd.