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Nonlinear Disturbance-Estimator-based Control for nth-order System with Matched/Mismatched Uncertainties

A nonlinear disturbance-estimator (NDE) based robust control for nth order system with matched and mismatched uncertainties is presented in this paper. The essential concept of this method is to use the series of sliding manifolds to estimate the effects of total uncertainties on channels of a single input and single output (SISO) model. Next, a robust controller is constructed by a combination of the estimated value and proposed sliding manifolds to highly enhance the tracking control of a closed-loop system. An overall stability of the control system is achieved by Lyapunov theorem. The effectiveness of proposed method is demonstrated through an illustrative example.