Finite differences in homogeneous discontinuous control

Research output: Contribution to journalConference articlepeer-review


Finite differences can be used for the estimation of arbitrary-order real-time derivatives producing an output-feedback controller from any finite-time-stable r-sliding homogeneous controller. The resulting controller is capable to control the output of any smooth uncertain SISO system of a known permanent relative degree r and is robust with respect to measurement errors. Variable sampling step feedback being applied, the controller preserves the utmost r-sliding accuracy corresponding to the minimal possible sampling step in the absence of noises, otherwise the tracking accuracy is proportional to the unknown magnitude of the noise.

Original languageEnglish
Article numberThA13.4
Pages (from-to)3183-3188
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 2004
Event2004 43rd IEEE Conference on Decision and Control (CDC) - Nassau, Bahamas
Duration: 14 Dec 200417 Dec 2004


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