Abstract
The synthesis of a robust control law for regulation control of a class of relative-degree-one nonlinear systems is presented. The control design is based on a sliding-mode uncertainty estimator, developed under a framework of algebraic-differential concepts. The closed-loop stability for the underlying closed-loop system is achieved via averaging techniques. Robustness of the proposed control scheme is proved in the face of noise measurements, model uncertainties and sustained disturbances. The performance of the proposed control law is illustrated with numerical simulations, comparing the proposed controller with a well tuned PI controller.
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