Global exact tracking for uncertain MIMO linear systems by output feedback sliding mode control |
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| Authors: | Eduardo VL Nunes Alessandro J Peixoto Tiago Roux Oliveira Liu Hsu |
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| Institution: | 1. Department of Electrical Engineering - COPPE/UFRJ, Federal University of Rio de Janeiro, Brazil;2. Department of Electronics and Telecommunication Engineering - UERJ, State University of Rio de Janeiro, Brazil |
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| Abstract: | This paper presents a solution to the problem of global exact output tracking for uncertain MIMO (multiple-input–multiple-output) linear plants with non-uniform arbitrary relative degree using output feedback sliding mode control. The key idea to overcome the relative degree obstacle is to generalize our previous hybrid estimation scheme to a multivariable version by combining, through switching, a standard linear lead filter with a non-linear one based on robust exact differentiators, achieving uniform global exponential practical stability and exact tracking. |
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