SLIDING MODE CONTROL OF UNCERTAIN LINEAR SYSTEMS BASED ON A HIGH GAIN OBSERVER FREE OF PEAKING

Abstract A model-reference variable structure controller based on a high gain observer (HGO) is proposed and analyzed. For single-input-single-output (SISO) linear plants with relative degree larger than one, the switching law is generated using the HGO state while the modulation function in the control law is generated using signals from state variable filters free of high gains. This scheme achieves global exponential stability with respect to a small residual set and does not generate the peaking phenomena.

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