OUTPUT-FEEDBACK STABILIZATION USING VARIABLE-STRUCTURE CONTROL

We consider the stabilization of a class of multivariable nonlinear sy stems, about an equilibrium point at the origin, using variable struct ure output feedback, control. In particular, the system can be transfo rmed into a normal form with no zero dynamics. A robust high-grain obs erver is used to estimate the state variables while rejecting the effe ct of disturbance. A globally bounded discontinuous variable structure controller is designed to compensate for modelling error. We show tha t the controller can stabilize the closed-loop system and does not suf fer from the peaking phenomenon that exists in previous designs.