Title :
Sliding mode observers. Tutorial
Author :
Drakunov, S. ; Utkin, Vadim
Author_Institution :
Dept. of Electr. Eng., Tulane Univ., New Orleans, LA, USA
Abstract :
Discusses the problem of designing observers for state estimation using sliding modes. The theory and design principles are presented for linear and nonlinear systems. For linear systems the observers are developed using a block-observable form which is similar to a lower triangular matrix form. Compared with known approaches such observers have better robustness properties. In the case of nonlinear systems an equivalent control concept makes it possible to develop finite-time observers for a wide class of systems
Keywords :
linear systems; matrix algebra; nonlinear systems; observers; variable structure systems; block-observable form; linear systems; lower triangular matrix form; nonlinear systems; sliding mode observers; state estimation; Control systems; Equations; Linear systems; Nonlinear control systems; Nonlinear systems; Observers; Robustness; State estimation; Tutorial; Vectors;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.479009
