Resumen de Robust sliding mode regulation of nonlinear systems
A.G. Loukianov, Jorge Rivera Domínguez, Bernardino Toledo
In this paper, the problem of nonlinear Sliding Mode (SM) output regulation is addressed. In particular, a state feedback SM regulator problem is formulated, taking the concepts related to the zero output tracking submanifold as a starting point, and a solution is proposed for general nonlinear affine control systems subject to unmodeled time-varying disturbance. Then, the problem is studied for the particular class of nonlinear systems presented in the so-called Regular form. The effectiveness of the proposed method is demonstrated by the application to the Pendubot system.
