Robust Output Feedback Passivity-Based Variable Structure Controller Design for Nonlinear Systems

<p>Real and estimation states <span class="nowrap"><svg height="9.2468pt" id="M243" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -6.0653 12.523 9.2468" width="12.523pt" xmlns="http://www.w3.org/2000/svg"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M552 399C552 425 539 454 501 454C451 454 411 416 332 310L314 361C295 415 272 454 241 454C202 454 143 409 83 325L106 298C141 343 161 356 170 356C182 356 194 353 216 283L240 205C186 131 142 82 117 82C108 82 103 85 92 94C86 99 78 104 71 104C47 104 21 82 21 48S46 -12 78 -12C135 -12 174 38 256 161L281 89C306 16 325 -12 364 -12S468 27 529 120L509 149C465 97 443 83 430 83C416 83 404 107 392 140L346 271C370 300 392 326 410 343C430 360 443 367 455 367C465 367 474 363 480 356S492 345 500 345C522 345 552 365 552 399Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.477,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z"></path></g></svg>.</span></p>

Journal of Control Science and Engineering

fig2

Figure 2

Figure 2: Robust Output Feedback Passivity-Based Variable Structure Controller Design for Nonlinear Systems 