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Keywords:

  • sliding mode control;
  • uncertain systems;
  • robust observation;
  • unmatched uncertainties

SUMMARY

The problem of compensation of the effects of unmatched uncertainties ∕ perturbations is considered. High-order sliding mode observers are employed for exact state and uncertainties ∕ perturbations reconstruction. A sliding mode control design is proposed ensuring theoretically exact compensation of the uncertainties ∕ perturbations for the corresponding unmatched states based on the identified perturbation values. An inverted pendulum simulation example is considered illustrating the feasibility of the proposed approach.Copyright © 2012 John Wiley & Sons, Ltd.