Dynamic output feedback sliding mode control for non-minimum phase systems with application to an inverted pendulum⁎⁎This paper is partially supported by the National Nature Science Foundation of China under Grant (61973315) and the Thousand Person Program for Foreign Experts. Sarah K. Spurgeon gratefully acknowledges the support provided to enable her to visit China University of Petroleum.

In this paper, a class of nonlinear systems is considered, where the nominal system representation is allowed to be non-minimum phase. A sliding surface is proposed which is a function of the measured system output and an estimated state. A linear coordinate transformation is introduced so that the stability analysis of the reduced order sliding mode dynamics can be conveniently performed. A robust output feedback sliding mode control (OFSMC) is then designed to drive the system states to the sliding surface in finite time and maintain a sliding motion thereafter. A simulation example is used to demonstrate the effectiveness of the proposed method and the method is successfully applied to an inverted pendulum.