New Homogeneous Controllers and Differentiators

Avi Hanan, Adam Jbara, Arie Levant

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review


Unlimited number of new homogeneous output regulators are produced by means of a recursive procedure in the form of control templates. The templates are valid for any relative degree of the system, any homogeneity degree and include a number of parameters to be found recursively by simulation. In particular, infinitely many new sliding-mode (SM) controllers are produced. The controllers are accompanied by new filtering SM-based differentiators which are exact in the absence of noises, robust, and asymptotically optimal in the presence of bounded noises, and filter out unbounded noises of small average values.

Original languageEnglish
Title of host publicationStudies in Systems, Decision and Control
Number of pages26
StatePublished - 2020

Publication series

NameStudies in Systems, Decision and Control
ISSN (Print)2198-4182
ISSN (Electronic)2198-4190


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