@inbook{5e0956783582439b907aa45ef168bfed,
title = "Output-Based Asymptotic Controller for a Class of Nonlinear Systems via High-Order Sliding-Modes",
abstract = "This chapter deals with the problem of output control of a class of multiple-input multiple-output nonlinear systems that are algebraically strongly observable. A high-order sliding-mode observer is combined with a continuous controller. As a result, the closed-loop dynamics perform robustly in the presence of disturbances matched to the control input. The disturbance signals may comprise external perturbations and discrepancies between the mathematical model and the real plant. Thus, an output robust feedback linearization strategy is proposed. Two study cases are presented to illustrate the advantages of the proposed method: the stabilization of an inertia wheel pendulum at its up-right position and the trajectory tracking of a quadrotor. Experimental results shed light on the advantages of the proposed approach.",
author = "{Ferreira de Loza}, Alejandra and Leonid Fridman and Aguilar, {Luis T.}",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.",
year = "2022",
doi = "10.1007/978-3-030-99776-2_13",
language = "Ingl{\'e}s",
series = "Studies in Systems, Decision and Control",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "219--244",
booktitle = "Studies in Systems, Decision and Control",
address = "Alemania",
}