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arXiv · 2610.20815

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·Romeo Ortega·José Guadalupe Romero
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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.

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Luis Cervantes-Pérez, Víctor Santibáñez, Jesús Sandoval, Romeo Ortega, José Guadalupe Romero. 2026-10-14. A Response to the Reply Presented in "A Fair Comparison of Sliding-Mode and Immersion-and-Invariance Observers". https://arxiv.org/abs/2610.20815

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