Dwell-time and monitoring schemes for peaking avoidance in high-gain observer based output-feedback control

A peaking free tracking sliding mode controller based on high-gain observers and dwell-time control activation is introduced for a rather general class of uncertain strongly nonlinear systems. Global or semi-global practical exponential stability is proved using a novel lemma for output-feedback. Larger stability domains and significantly improved transient behavior are obtained. A new monitoring scheme is also given to deal with peaking induced by output disturbances.