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De Leon-Morales, J., Alvarez-Leal, J.G., Castro-Linares, R. (1997) Speed and Position Control of Flexible Joint Robot Manipulator via a Nonlinear Control-Observer Scheme. Proceeding of the IEEE International Conference on Control Applications, Hartford, 5-7 October 1997, 312-317. https://doi.org/10.1109/CCA.1997.627565

has been cited by the following article:

• TITLE: Sliding Mode Control for Singularly Perturbed Systems Using Accurate Reduced Model

  AUTHORS: Ayman E. M. Ahmed, Mohamed Zohdy

  KEYWORDS: Singular Perturbation, Sliding Mode Control, Diagonalization Method

  JOURNAL NAME: International Journal of Modern Nonlinear Theory and Application, Vol.10 No.1, March 5, 2021

  ABSTRACT: In order to deal with unmodeled dynamics in large vehicle systems, which have an ill condition of the state matrix, the use of model order reduction methods is a good approach. This article presents a new construction of the sliding mode controller for singularly perturbed systems. The controller design is based on a linear diagonal transformation of the singularly perturbed model. Furthermore, the use of a single sliding mode controller designed for the slow component of the diagonalized system is investigated. Simulation results indicate the performance improvement of the proposed controllers.