A new structure for a nonlinear observer: A sliding mode based solution

This paper proposes an original solution for the observation of nonlinear uncertain systems. Features of this observer based on high order sliding modes are a finite and a priori known convergence time, robustness against unstructured (even unmatched) uncertainties and limited chattering. This is, as far as the authors known, the first observer structure which guarantees an a priori known convergence time in spite of unstructured uncertainties and perturbation.