비정합조건 하의 슬라이딩 모드 관측기를 이용한 강인 제어

Robust control using the sliding mode observer in the presence of unmatched uncertainties

In this paper, sliding mode observer design principles based on the equivalent control approach are discussed for the systems which may not satisfy the matching conditions. We propose a new approach for designing a sliding observer and the proof of the stability of the state reconstruction error system for time-invariant systems using the Lyapunov method. The reaching time to the sliding surface, the sliding dynamics of the system, the stability of the reconstruction error system via Lyapunov method, sufficient conditions for the existence of the sliding mode are studied.