Global Stabilization for Nonminimum Phase Systems by means of Sliding Mode Control and Multiple Observers

Abstract

A new control strategy using only output feedback for the stabilization of uncertain nonminimum phase systems is presented in this paper. Multiple observers for the unmeasured states of the plant, the output signal and unknown disturbances have served as the basis for the design of a sliding mode control law robust to parametric uncertainties and exogenous perturbations. Global asymptotic stability is demonstrated for the closed-loop system. Simulation results illustrate the performance of the proposed control algorithm.