EXACT DIFFERENTIATION VIA SLIDING MODE OBSERVER FOR SWITCHED SYSTEMS

The main topic of this paper is the problem of observer synthesis for switched systems, which includes, as a specific case, the design of observers based on high order sliding mode technique. High order sliding mode is used to overcome the occurring chattering phenomena which induces some irrelevant decision of switching between the subsystems when the trajectory is in the neighborhood of the switching manifold. Moreover, in this paper, after presenting the general structure of the step by step differentiator, well show the step by step finite time convergence of the estimation error and the discrete state estimation. Two simulation examples illustrate the efficiency of the proposed approach.