Robust output trajectory linearisation control for a class of linear time-varying systems

The trajectory linearisation control of a non-linear system using only output information and considering the presence of matched and unmatched uncertainties/perturbations is presented. A continuous sliding mode controller is used to achieve finite-time tracking of a given continuous time-varying reference and assuring theoretically exact reconstruction of the matched and unmatched uncertainties/perturbations. The states are reconstructed theoretically exactly in finite time using a linear time-varying observer based on a high-order sliding mode framework. The proposed approach is validated using MATLAB simulations.