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עמוד:*28
Summation Homogeneous sliding - mode ( SM ) observers and controllers are well - known for their finite - time convergence, robustness and high accuracy . Unfortunately, systems closed with such observers and controllers often feature so - called chattering effect due to control / observer discretization, noisy sampling and para - sitic dynamics . This paper develops new discretization and filtering methods diminishing those phenomena and studies their utilization in SMcontrol . In particular, homogeneous SM - based differentiators provide for exact n th - order dif - t ) | ≤ L, isferentiation of any signal f ( t ) , provided an upper bound L > 0 , | f ( n + 1 ) ( known . They also feature optimal accuracy asymptotics in the presence of bounded noises . Filtering SM - based differentiators / observers of any homogeneity degree are devel - oped, which are also able of suppressing large or even unbounded noises having small iterated integrals, while preserving the exactness in the absence of noises and the optimal error asymptotics if the noises are bounded . * 28
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אדמוני, אריאל
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