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Tracking through singularities using sliding mode differentiators

Bernardino Castillo-Toledo, Stefano Di Gennaro, Armando López-Cuevas (2015)

Kybernetika

In this work, an alternative solution to the tracking problem for a SISO nonlinear dynamical system exhibiting points of singularity is given. An inversion-based controller is synthesized using the Fliess generalized observability canonical form associated to the system. This form depends on the input and its derivatives. For this purpose, a robust exact differentiator is used for estimating the control derivatives signals with the aim of defining a control law depending on such control derivative...

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