Parameter estimation of uncertain nonlinear MIMO three tank systems using higher order sliding modes

This paper presents a technique for parameter estimation of uncertain nonlinear systems based on the computation of an accurate and robust derivative using higher order sliding modes. The novelty of the method is to facilitate the determination of system parameters via calculating the derivatives of measured system input-outputs. To validate the technique, simulations have been performed for a laboratory benchmark uncertain nonlinear MIMO `Three Tank System'. The simulation results demonstrate that the convergence of estimates to their nominal values faster than existing techniques even in the presence of measurement noise. The presented parameter estimation scheme is relatively simple and can be employed for the controller design and fault diagnosis of nonlinear systems.