Quasi-continuous HOSM control for systems with unmatched perturbations

The control of nonlinear systems subject to unmatched perturbations is studied. A new design algorithm is proposed in this paper. This control scheme is based on the block control and quasi-continuous HOSM techniques. The proposed method provides for the finite time exact tracking of the desired signal in spite of unmatched perturbations. The proposed control design is tested in a simulation example.