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High-order sliding-mode observer-based input-output linearization. (English) Zbl 1418.93049

Summary: The problem of output control in multiple-input-multiple-output nonlinear systems is addressed. A high-order sliding-mode observer is used to estimate the states of the system and identify the discrepancy between the nominal model and the real plant. The exact and finite-time estimation may be tackled as long as the system presents the algebraic strong observability property. Thus, a continuous robust input-output linearization strategy can be obtained with respect to a prescribed output. As a consequence, the closed-loop dynamics performs robustly to uncertainties/perturbations. To illustrate the advantages of the proposed method, we introduce a study case that demands a robust linear system behavior: the self-oscillations induced in an underactuated mechanical system through a two-relay controller. Experiments with an inertial wheel pendulum illustrate the feasibility of the proposed approach.

MSC:

93B12 Variable structure systems
93C35 Multivariable systems, multidimensional control systems
93C10 Nonlinear systems in control theory
93C41 Control/observation systems with incomplete information
93B35 Sensitivity (robustness)
93B07 Observability
93B18 Linearizations
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