A non-linear controller-observer scheme for the output tracking of a class of non-linear singularly perturbed systems based on a two-time scale sliding-mode technique and a high gain estimator, is presented. An analysis of stability of the resultant closed-loop system is given. The proposed scheme is applied to the model of a two degrees of freedom flexible joint robot to show the controller-observer methodology proposed.
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León-Morales et al. (2001) studied this question.
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