Output feedback control based on a high-order sliding manifold approach

In this note, we address the problem of output feedback control of multiple-input-multiple-output plants. The proposed approach is based on a high-order sliding manifold strategy. The resulting controller exhibits strong robustness properties, similar to high-gain control laws, but avoids peaking phenomena, thanks to the adoption of a time-varying sliding surface. Moreover, the dynamic control law is continuous and differentiable, thus avoiding chattering problems.