Output-feedback finite-time stabilization of disturbed LTI systems

Semi-global finite-time exact stabilization of linear time-invariant systems with matched disturbances is attained using a dynamic output feedback, provided the system is controllable, strongly observable and the disturbance has a bound affine in the state norm. The novel non-homogeneous high-order sliding-mode control strategy is based on the gain adaptation of both the controller and the differentiator included in the feedback. A robust criterion is developed for the detection of differentiator convergence to turn on the controller at a proper time.