Output feedback control: a robust solution based on second order sliding mode

This paper proposes a new second order sliding mode output feedback controller. In the continuous case for which sampling frequency is supposed infinite, this controller uses only the output information and ensures desired trajectory tracking in a finite time in spite of uncertainties and perturbations. Moreover, in case of finite sampling frequency, it is shown that the controller needs also the sign of output time derivative to ensure the finite time convergence to an origin neighborhood.

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