A note on sliding observer and controller for generalized canonical forms

Presents asymptotic stabilization of nonlinear systems which can be put in the generalized observer/controller canonical form using sliding mode approaches. At a first step a sliding controller is designed, then a sliding observer is provided and lastly closed-loop behaviour is analysed. Moreover modified versions of the proposed observer are outlined in order to overcome chattering, peaking and accelerating convergence phenomena. An example provides illustration of the proposed techniques