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— This paper considers the model reference tracking control for a class of uncertain nonlinear systems, based on sliding mode and output-feedback. No particular growth condition is imposed on the nonlinearity. Moreover, the design does not assume the prior knowledge of the control direction. For plants of arbitrary relative degree, global or semi-global(More)
— This work addresses the design of a sliding mode tracking controller for single-input-single-output (SISO) uncertain linear plants with relative degree one and unknown sign of the high frequency gain, i.e., the control direction is considered unknown. The goal is to achieve global exact tracking using only output-feedback. A periodic switching function is(More)
This paper addresses the application of the sliding mode approach to control the arm movements by artificial recruitment of muscles using Neuromuscular Electrical Stimulation (NMES). Such a technique allows the activation of motor nerves using surface electrodes. The goal of the proposed control system is to move the upper limbs of subjects through(More)