ROBUST TRACKING CONTROL FOR SLOSH-CONTAINER SYSTEM AGAINST VISCOUS FRICTION UNCERTAINTY

In this paper, control design techniques are proposed for trajectory tracking of sloshcontainer system. In particular we assume that only partial state measurements are available for feedback and we synthesize observer-based control law such that the controlled output successfully tracks a pre-defined trajectory. Moreover, we take into account the uncertainty issue in the estimate of the viscous friction coefficient and we enhance the controller with a robustness property against such uncertainty. The proposed approach is demonstrated by numerical simulations on the dynamical model of sloshcontainer system.