Control of uncertain systems with unmodeled actuator and sensor dynamics and incomplete state information

The performance of controllers for a class of uncertain dynamical systems is analyzed in the presence of unmodeled actuator and sensor dynamics. It is shown that in uncertain systems with variable-structure control that contain small unmodeled inertias the sliding mode may be retained if an observer is utilized. The influence of the variable-structure observer on the performance of some control strategies used in the control of uncertain systems is also investigated. Finally, simulation results for different control strategies applied to a linearized model of a two-link manipulator subject to an uncertainty and the effects of a sensor and observer are presented.