In this article, the problem of nonlinear sliding mode (SM) regulation is addressed for nonlinear systems in general and regular form that are subject to unmodelled disturbances. In particular, the error feedback SM regulator problem is defined, taking the concepts related to the zero output tracking submanifold as a starting point. Applying the internal model concept to the time‐invariant SM equation, the solvability conditions to the problem are derived. A nonlinear extended observer is proposed, and using the observer states, a sliding manifold is formulated. A SM control algorithm is proposed to ensure the designed manifold to be attractive, achieving robustness with respect to allowed uncertainties resulting in the tracking error to be uniformly ultimately bounded. The effectiveness of the proposed method is demonstrated by the application of the regulator to a third order nonlinear non‐minimum phase system.
En este artículo se presenta la propuesta de un prototipo para la recolección de residuos reciclables. El objetivo del prototipo es fomentar el compromiso medioambiental, incorporando a la comunidad completa del Centro Universitario de los Valles de la Universidad de Guadalajara en las labores de separación y recolección de residuos, a través de un sistema de recompensas. Se presentan las características técnicas del prototipo, así como las consideraciones utilizadas para el diseño industrial, identidad y comunicación visual, tomando en consideración el objetivo del prototipo: en este caso, cambio de actitud a partir del diseño de un sistema integrado al entorno. Se muestran los resultados obtenidos, incluyendo el prototipo completo, basado en la sostenibilidad. El trabajo muestra la integración de disciplinas al contar con la intervención de ingenieros y diseñadores gráficos en el desarrollo de la comunicación visual para el refuerzo de la identidad entre la comunidad universitaria y el objeto de diseño.
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