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A high gain observer is proposed for a class of nonlinear systems involving some uncertainties. In the absence of the uncertainties, the considered class of systems becomes a canonical form that characterizes a class of uniformly observable systems and the observation error exponentially converges to zero. In the presence of uncertainties, it is shown that the observation error can be made as small...
This paper tackles the output zeroing problem of a square MIMO plant containing uncertain non-smooth nonlinearities (dead-zone, backlash, hysteresis) in actuator and sensor devices simultaneously. To this purpose a robust sliding mode controller, based on the output of a reduced order observer, has been designed using it, such control law ensuring both the asymptotical zeroing of the sensing nonlinearities...
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