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Unmatched uncertainties compensation based on high-order sliding mode observation


Correspondence to: Alejandra Ferreira de Loza, UVHC, LAMIH, F-59313 Valenciennes, France.



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.