Output-feedback sliding mode control for global asymptotic tracking of uncertain systems using locally exact differentiators

This paper generalizes and validates experimentally the applicability of a recently developed output-feedback sliding mode tracking controller based on a hybrid switching compensator. The proposed controller can deal with plants of arbitrary relative degree by using a locally exact differentiator of higher order based on second order sliding modes (SOSM). Global stability and asymptotic exact tracking are achieved by combining, through switching, a standard lead filter with the SOSM exact differentiator. Simulations and experimental results are presented to illustrate the applicability of the hybrid scheme in real conditions