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A third order sliding modes based output-feedback control for stabilization of container-slosh

This paper describes about lateral container-slosh dynamical model, which represents an under-actuated system. The dynamics is highly coupled and non-linear, moreover it is difficult to measure the slosh states. Hence an output-feedback control is proposed, which depends only on measurable states. Third order sliding mode (TOSM) based on nested controller algorithm is applied while developing the control. The stability of the system during sliding is analyzed. Finally the proposed method is validated in simulations.