Sliding mode observers. Tutorial

Discusses the problem of designing observers for state estimation using sliding modes. The theory and design principles are presented for linear and nonlinear systems. For linear systems the observers are developed using a block-observable form which is similar to a lower triangular matrix form. Com...

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Bibliographic Details
Published inProceedings of 1995 34th IEEE Conference on Decision and Control Vol. 4; pp. 3376 - 3378 vol.4
Main Authors Drakunov, S., Utkin, V.
Format Conference Proceeding
LanguageEnglish
Published IEEE Control Systems Society 1995
Subjects
Control systems
Equations
Linear systems
Nonlinear control systems
Nonlinear systems
Observers
Robustness
State estimation
Tutorial
Vectors
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Summary:Discusses the problem of designing observers for state estimation using sliding modes. The theory and design principles are presented for linear and nonlinear systems. For linear systems the observers are developed using a block-observable form which is similar to a lower triangular matrix form. Compared with known approaches such observers have better robustness properties. In the case of nonlinear systems an equivalent control concept makes it possible to develop finite-time observers for a wide class of systems.
ISBN:0780326857
9780780326859
ISSN:0191-2216
DOI:10.1109/CDC.1995.479009