Abstract
AbstractIn this paper, we propose an output feedback sliding mode controller to solve the problem of global exact output tracking for uncertain multivariable linear plants with non-uniform arbitrary relative degree. The controller is based on a hybrid estimation scheme, which adapts the relative degree compensation through switching between a high-gain observer and a set of locally exact differentiators. As a result, uniform global exponential practical stability and exact tracking are achieved with peaking free control signal.
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