Output-based robust generation of self-oscillations via high-order sliding modes observer

Abstract

In this chapter, a high-order sliding mode (HOSM) observer is used to estimate the states of the system and identify the theoretically exact uncertainties/perturbations in finite time. After that, the estimated values of uncertainties are used for compensation. This scheme is used for output-based SO generation considering a TRC and a linearized model of the plant. The proposed scheme ensures robust oscillations with prescribed amplitude and frequency for the real system. The theoretical results are illustrated by simulations in an inverted wheel pendulum.