High Order Sliding Mode Differentiator for Dynamical Inversion of Non-Involutive Systems

This paper deals with the left inversion problem for a class of nonlinear systems. It is well-known that such problem is a challenging one because of the presence of non-smooth unknown inputs and non-involutivity of the forced fields’ distribution. To overcome these difficulties, we first propose a novel left invertible form. Then, using this form, we design an observer in order to reconstruct the state and the control inputs. Numerical results are given in order to validate the proposed approach.