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A Response to the Reply Presented in 'A Fair Comparison of Sliding-Mode and Immersion-and-Invariance Observers'

2026-10-14 19:00:13
Luis Cervantes-P\'erez, V\'ictor Santib\'a\~nez, Jes\'us Sandoval, Romeo Ortega, Jos\'e Guadalupe Romero
arXiv_RO
       
Abstract

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 and adaptive tracking controllers for a pendular system with nonlinear friction reported in [Cervantes-Pérez et al.(2026)]. The immersion and invariance (I&I) adaptive control scheme proposed in [Romero et al.(2025)], whose gains are tuned according to the guidelines presented in [Ortega et al.(2025)], is compared with a control scheme employing the adaptive modi?ed super-twisting observer of [Dávila et al.(2006)], whose observer gains are selected according to the guidelines proposed in [Muñoz-Vázquez and Sánchez-Torres(2026)]. Although these "tuning guidelines" attenuate chattering in certain scenarios, the experimental results reported here show that they do not eliminate it in general.

Abstract (translated)

URL

https://arxiv.org/abs/2610.20815

PDF

https://arxiv.org/pdf/2610.20815.pdf

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