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 language||American English|
|Number of pages||677|
|Journal||International Journal of Robust and Nonlinear Control|
|State||Published - 10 May 2013|