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Enhancement of adaptive observer robustness applying sliding mode techniques

Abstract : The problem studied in this paper is one of improving the performance of a class of adaptive observer in the presence of exogenous disturbances. The H∞ gains of both a conventional and the newly proposed sliding-mode adaptive observer are evaluated, to assess the effect of disturbances on the estimation errors. It is shown that if the disturbance is " matched " in the plant equations, then including an additional sliding-mode feedback injection term, dependent on the plant output, improves the accuracy of observation.
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Contributor : Denis Efimov <>
Submitted on : Thursday, May 12, 2016 - 3:05:23 PM
Last modification on : Tuesday, September 29, 2020 - 12:24:10 PM
Long-term archiving on: : Tuesday, August 16, 2016 - 9:44:30 AM


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  • HAL Id : hal-01315009, version 1


Denis Efimov, Christopher Edwards, Ali Zolghadri. Enhancement of adaptive observer robustness applying sliding mode techniques. Automatica, Elsevier, 2016. ⟨hal-01315009⟩



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