<abstract xmlns="http://www.w3.org/1999/xhtml">
<p>This paper concerns the synthesis of a nonlinear robust output controller based on a full-order observer for a class of uncertain disturbed systems. The proposed method guarantees that, in finite time, the system trajectories go inside a minimal neighborhood ultimately bounded. To this end, the attractive ellipsoid method is enhanced by applying the dynamic sliding mode control performance properties. Furthermore, in order to guarantee the stability of the trajectory around the trivial solution in the uniform-ultimately bounded sense, the feasibility of a specific matrix inequality problem is provided. With this feasible set of matrix inequalities, the separation principle of the controller/observer scheme considered also holds. To achieve a system performance improvement, a numerical algorithm based on the small size ultimate bound is presented. Finally, to illustrate the theoretical performance of the designed controller/observer, a numerical example dealing with the stabilization of a disturbed electromechanical system with uncertain and unmodeled dynamics is presented.</p>
</abstract>

This paper concerns the synthesis of a nonlinear robust output controller based on a full-order observer for a class of uncertain disturbed systems. The proposed method guarantees that, in finite time, the system trajectories go inside a minimal neighborhood ultimately bounded. To this end, the attractive ellipsoid method is enhanced by applying the dynamic sliding mode control performance properties. Furthermore, in order to guarantee the stability of the trajectory around the trivial solution in the uniform-ultimately bounded sense, the feasibility of a specific matrix inequality problem is provided. With this feasible set of matrix inequalities, the separation principle of the controller/observer scheme considered also holds. To achieve a system performance improvement, a numerical algorithm based on the small size ultimate bound is presented. Finally, to illustrate the theoretical performance of the designed controller/observer, a numerical example dealing with the stabilization of a disturbed electromechanical system with uncertain and unmodeled dynamics is presented.

Dynamic Sliding Mode Control Based on a Full–Order Observer: Underactuated Electro–Mechanical System Regulation

Institute of Basic Sciences and Engineering

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

This paper concerns the synthesis of a nonlinear robust output controller based on a full-order observer for a class of uncertain disturbed systems. The...

Dynamic Sliding Mode Control Based on a Full–Order Observer: Underactuated Electro–Mechanical System Regulation

Published Online: Mar 26, 2024

Page range: 29 - 43

Received: Jan 25, 2023

Accepted: Oct 09, 2023

DOI: https://doi.org/10.61822/amcs-2024-0003

Keywords
output feedback and observers, sliding mode control, attractive ellipsoid method, uncertain systems, nonlinear systems

© 2024 Patricio Ordaz et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Dynamic Sliding Mode Control Based on a Full–Order Observer: Underactuated Electro–Mechanical System Regulation

Published Online: Mar 26, 2024

Page range: 29 - 43

Received: Jan 25, 2023

Accepted: Oct 09, 2023

DOI: https://doi.org/10.61822/amcs-2024-0003

Keywordsoutput feedback and observers, sliding mode control, attractive ellipsoid method, uncertain systems, nonlinear systems

© 2024 Patricio Ordaz et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
output feedback and observers, sliding mode control, attractive ellipsoid method, uncertain systems, nonlinear systems