Displaying similar documents to “Sliding mode controller-observer design for multivariable linear systems with unmatched uncertainty”

A variable structure observer for the control of robot manipulators

Abdelkader Abdessameud, Mohamed Khelfi (2006)

International Journal of Applied Mathematics and Computer Science

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This paper deals with the application of a variable structure observer developed for a class of nonlinear systems to solve the trajectory tracking problem for rigid robot manipulators. The analyzed approach to observer design proposes a simple design methodology for systems having completely observable linear parts and bounded nonlinearities andor uncertainties. This observer is basically the conventional Luenberger observer with an additional switching term that is used to guarantee...

Non-linear observer design method based on dissipation normal form

Václav Černý, Josef Hrušák (2005)

Kybernetika

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Observer design is one of large fields investigated in automatic control theory and a lot of articles have already been dedicated to it in technical literature. Non-linear observer design method based on dissipation normal form proposed in the paper represents a new approach to solving the observer design problem for a certain class of non-linear systems. As the theoretical basis of the approach the well known dissipative system theory has been chosen. The main achievement of the contribution...

Rotary inverted pendulum: trajectory tracking via nonlinear control techniques

Luis E. Ramos-Velasco, Javier Ruiz, Sergej Čelikovský (2002)

Kybernetika

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The nonlinear control techniques are applied to the model of rotary inverted pendulum. The model has two degrees of freedom and is not exactly linearizable. The goal is to control output trajectory of the rotary inverted pendulum asymptotically along a desired reference. Moreover, the designed controller should be robust with respect to specified perturbations and parameters uncertainties. A combination of techniques based on nonlinear normal forms, output regulation and sliding mode...