Static Sliding Mode Control of Systems With Arbitrary Relative Degree by Using Artificial Delay

Static output-feedback stabilization of systems with relative degree <inline-formula><tex-math notation="LaTeX">$n$</tex-math></inline-formula> with matched disturbances is considered. Assuming that the system is controllable, a static output-feedback sliding mode controller is designed, where the output derivatives up to the order <inline-formula><tex-math notation="LaTeX">$(n-1)$</tex-math></inline-formula> are approximated by using the current and the delayed values of the output. Numerical examples illustrate the efficiency of the method.

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