An adaptive version of a second order sliding mode output feedback controller

This paper proposes a novel adaptive-gain second order sliding mode controller. The proposed controller is based on discontinous-impulsive action and only uses information of the output, no differentiation is needed. A practical second order sliding mode is ensured in spite of bounded perturbations with unknown bound. The gain adaptation is based on particular conditions attainable on sliding mode which can be verified with the only information of the output. Both, the convergence conditions and adaptation proposal are tested through simulations.