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A Response to the Reply Presented in "A Fair Comparison of Sliding-Mode and Immersion-and-Invariance Observers"
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arXiv:2610.20815v1 Announce Type: new Abstract: In response to the reply presented in [Mu\~noz-V\'azquez and S\'anchez-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-P\'erez 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 [D\'avila et al.(2006)], whose observer gains are selected according to the guidelines proposed in [Mu\~noz-V\'azquez and S\'anchez-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.
Source：https://arxiv.org/abs/2610.20815PreviousElectrical Power Grid Reliability Assessment Exposed to Straight Line WindsNextObjective-Aware Policy Orchestration for O-RAN Service Provisioning
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