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A Response to the Reply Presented in "A Fair Comparison of Sliding-Mode and Immersion-and-Invariance Observers"
Luis Cervantes-Pérez, Víctor Santibáñez, Jesús Sandoval +2
In response to the reply presented in [Muñoz-Vázquez and Sánchez-Torres(2026)], this technical report extends the experimental evaluation of position-feedback velocity observers an…
Three High Performance Global Tracking Composite Adaptive Controllers for Fully Actuated Euler-Lagrange Systems: Experimental Validation
Luis Cervantes-Pérez, Jose Guadalupe Romero, Romeo Ortega +2
Three adaptive global tracking controllers for fully actuated Euler-Lagrange systems, with verifiable performance improvement over existing designs, are reported in this letter. Tw…
Introduction to Passivity-based Control
Pablo Borja, Romeo Ortega
Passivity-based control (PBC) is a nonlinear control design framework that has proven adequate for controlling a wide range of systems, especially physical ones. Their main ingredi…
An Experimental Comparison of Sliding Mode and Immersion and Invariance Adaptive Controllers forPosition-feedback Tracking of a Simple Mechanical System with Friction
Luis Cervantes-Pérez, Víctor Santibáñez, Jesús Sandoval +2
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback trackin…
Standard LSParameter Estimators Ensure Finite Convergence Time for Linear Regression Equations Under an Interval Excitation Assumption
Romeo Ortega, Jose Guadalupe Romero, Stanislav Aranovskiy +1
In this brief note we recall the little-known fact that, for linear regression equations (LRE) with intervally excited (IE) regressors, standard Least Square (LS) parameter estimat…
Immersion of General Nonlinear Systems Into State-Affine Ones for the Design of Generalized Parameter Estimation-Based Observers: A Simple Algebraic Procedure
Romeo Ortega, Alexey Bobtsov, Jose Guadalupe Romero +1
Generalized parameter estimation-based observers have proven very successful to deal with systems described in state-affine form. In this paper, we enlarge the domain of applicabil…