Abstract
A perturbed linear system with property of strong observability ensures that there is a sliding mode observer to estimate the unknown form inputs together with states estimation. In the case of the electro-hydraulic system with piston position measured output, the above property is not met. In this paper, the output and its derivatives estimation were used to build a dynamic structure that satisfy the condition of strongly observable. A high order sliding mode observer (HOSMO) was used to estimate both the resulting unknown perturbation term and the output derivatives. Thereafter with one signal from the whole system (piton position), the piston position make tracking to desire one with a simple linear output feedback controller after canceling the perturbation term.
 The numerical simulation results showed excellent performance of the proposed output feedback controller in forcing the piston position to follow the desired reference position. Moreover, the control effort spent was minimal.
Highlights
In many tracking or regulating problem design, it is impractical to assume that all the system phase variables are measured [1, Chapter 7]
In addition to that the estimation error with sliding mode observer based on first order sliding mode converge asymptotically to the origin if the measured outputs have relative degree one with respect to the perturbation term [3, Chapter 3]
Sliding mode observer based on high order sliding mode skip the need to the relative degree one, because this observer include a robust differentiator [3, Chapter 7]
Summary
In many tracking or regulating problem design, it is impractical to assume that all the system phase variables are measured [1, Chapter 7]. In addition to that the estimation error with sliding mode observer based on first order sliding mode converge asymptotically to the origin if the measured outputs have relative degree one with respect to the perturbation term [3, Chapter 3]. Sliding mode observer based on high order sliding mode skip the need to the relative degree one, because this observer include a robust (exact with measurement noise free) differentiator [3, Chapter 7]. Observer based back stepping control design for the EHS was studied in[8, 9] such that the proposed controller was designed in the presence of both friction and load force where the ultimate boundedness of the position tracking error was guaranteed.
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