@inproceedings{0dc461e55a134b5096626ee697595878,
title = "Output nested backward compensation of unmatched effects of unknown inputs",
abstract = "This paper tackles the regulation problem of linear time invariant systems with unmatched perturbations. The proposed methodology exploits a high order sliding mode observer, which guarantees theoretically exact state and perturbation estimation. In this work is introduced a controller with a compensation strategy based on the identified perturbation values. A nested backward sliding surface design is proposed, which allows to compensate the unmatched uncertainties and to stabilize some of the non-actuated state components, while all the remaining states are maintained bounded. The overall stabilization error is estimated in terms of the sampling time and actuator time constant values. The feasibility of the technique is showed in a rotary inverted pendulum simulation example.",
author = "Alejandra Ferreira and Leonid Fridman and Elisabetta Punta and Giorgio Bartolini",
year = "2010",
doi = "10.1109/CDC.2010.5718183",
language = "Ingl{\'e}s",
isbn = "9781424477456",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1448--1453",
booktitle = "2010 49th IEEE Conference on Decision and Control, CDC 2010",
address = "Estados Unidos",
note = "49th IEEE Conference on Decision and Control, CDC 2010 ; Conference date: 15-12-2010 Through 17-12-2010",
}