Sliding mode observer for triangular input form

This paper discusses the problem of designing an observer for nonlinear systems. In Drakunov and Utkin (1995) a new concept of sliding observers was introduced, where the key point is that the equivalent control concept is extensively used. Moreover, in Boukhobza, Djemai, and Barbot (1996) we use a classical sliding mode observer in order to design an observer for the largest class with the so-called output injection form. Here, our purpose is to discuss the observer design for a system in a triangular input observer form. For a system in a triangular input observer form there is no problem of singular input. The second purpose of this paper is to show how to use the anti-peaking sliding method in the case of successive equivalent vectors