Abstract
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.
Original language | English |
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Pages (from-to) | 754-764 |
Number of pages | 11 |
Journal | International Journal of Robust and Nonlinear Control |
Volume | 23 |
Issue number | 7 |
DOIs | |
State | Published - 10 May 2013 |
Externally published | Yes |
Keywords
- robust observation
- sliding mode control
- uncertain systems
- unmatched uncertainties