Observer-based output feedback integral terminal sliding mode control for nonlinear systems: multi-model approach

Abstract

In this paper we propose an observer-based output feedback integral terminal sliding mode control for nonlinear systems. The state estimation problem is treated by using the Utkin observer under a multi-model structure. The design of the control law is based on the sliding mode theory using multi-model approach. In fact, we propose two types of multi-model integral terminal sliding mode which are sign integral and fraction integral. The objective of such observer-based control algorithms is to estimate the states of the system and to stabilise the output tracking error to zero. The stability proof is demonstrated by Lyapunov approach. A numerical example of denitrification process is presented in order to validate the performances of the proposed control laws.