Sliding-mode observer for uncertain systems. Part II: Nonlinear systems case

A new sliding mode observer based on Wallcot and Zak\u27s observer for linear uncertain systems was proposed in Part I of this article. The proposed observer works under much less conservative conditions than the ones previously proposed. In this article, the observer design methodology that was proposed for linear systems in the first part of this paper is extended to a general class of nonlinear uncertain systems. Numerical examples are used to illustrate the validity of the proposed observer design strategy