Robust output trajectory linearisation control for a class of linear time‐varying systems

The trajectory linearisation control of a non‐linear system using only output information and considering the presence of matched and unmatched uncertainties/perturbations is presented. A continuous sliding mode controller is used to achieve finite‐time tracking of a given continuous time‐varying reference and assuring theoretically exact reconstruction of the matched and unmatched uncertainties/perturbations. The states are reconstructed theoretically exactly in finite time using a linear time‐varying observer based on a high‐order sliding mode framework. The proposed approach is validated using MATLAB simulations.