Abstract
In this chapter, we propose an output feedback sliding mode controller to solve the problem of global exact output tracking for a class of uncertain multivariable nonlinear plants with disturbances. In order to cope with the nonuniform arbitrary relative degree, we propose a hybrid estimation scheme which combines through switching a high-gain observer and a set of locally exact differentiators. Norm observers for the unmeasured state are employed to dominate the disturbances since they may be state dependent. Thus, uniform global exponential practical stability and ultimate exact tracking are guaranteed with a peaking free control signal, despite the use of high-gain observers. An example is presented to illustrate the application of the proposed scheme in the presence of unmodeled dynamics and measurement noise.
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