Unmatched uncertainties compensation based on high-order sliding mode observation

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The problem of compensation of the effects of unmatched uncertainties/perturbations is considered. High-order sliding mode observers are employed for exact state and uncertainties/perturbations reconstruction. A sliding mode control design is proposed ensuring theoretically exact compensation of the uncertainties/perturbations for the corresponding unmatched states based on the identified perturbation values. An inverted pendulum simulation example is considered illustrating the feasibility of the proposed approach. © 2012 John Wiley & Sons, Ltd.
Original languageAmerican English
Pages (from-to)754-764
Number of pages677
JournalInternational Journal of Robust and Nonlinear Control
StatePublished - 10 May 2013
Externally publishedYes


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