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— In this paper, we give sufficient conditions which guarantee the existence of a diffeomorphism in an extended state space that allows to transform a multi-output nonlinear dynamical system into a nonlinear normal observable canonical form. In particular, we propose an algorithm that permits to derive such diffeomorphism. The main feature of the canonical(More)
987 off O such that (x1(0); x2(0)) 6 = (0; 0), x3(0) > 0, the corresponding trajectory is bounded, but its positive limit set is the unit circle on O, and therefore it is not a subset of 0; see Fig. 2. In conclusion, 0 is not attractive for the closed-loop system (and neither is it stable). This example illustrates the fact that, when 0 V 01 (0) is compact,(More)
In this paper, we present a high order sliding mode controller of a DC motor drive connected to a multi-cellular converter. More specifically, we design a second order (super twisting) control algorithm for the speed regulation of a DC motor. For this, a switching control for the multi-cellular converter is derived in order to supply the correct reference(More)