Nonlinear output-feedback tracking using high-gain observer and variable structure control (Q1376273)

The authors consider a single-input-single-output nonlinear system represented by the \(n\)th order differential equation \[ y^{(n)}= f(\cdot)+ g(\cdot) u^{(m)}, \] where \(u\) is the control input, \(y\) is the measured output, \(u^{(i)}\) and \(y^{(i)}\) denote the \(i\)th derivatives of \(u\) and \(y\), respectively, and \(m<n\). The paper designs a globally bounded output-feedback variable structure controller that ensures tracking of the reference signal in the presence of unknown time-varying disturbance and modelling errors.