Output zeroing of MIMO plants, in the presence of actuator and sensor uncertain hysteresis nonlinearities

This paper tackles the output zeroing problem of a square MIMO plant containing uncertain non-smooth nonlinearities (dead-zone, backlash, hysteresis) in actuator and sensor devices simultaneously. To this purpose a robust sliding mode controller, based on the output of a reduced order observer, has been designed using it, such control law ensuring both the asymptotical zeroing of the sensing nonlinearities output and the boundedness of the unavailable states. Theoretical results have been validated by simulation