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ORCIDLeonid M. Fridman
Person information
- affiliation: Universidad Nacional Autonoma de Mexico, Mexico
- affiliation (PhD 1998): Moscow State Institute of Electronics and Mathematics, Russia
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2020 – today
- 2025
[j143]Luis Ovalle, Andrés González, Leonid M. Fridman, Salah Laghrouche, Hussein Obeid:
Analysis of barrier function based adaptive sliding mode control in the presence of deterministic noise. Autom. 171: 111946 (2025)- 2024
- [j142]Luis Ovalle, Leonid M. Fridman
:
Sliding mode control for systems with zero-crossing control gain under matched and mismatched disturbances. Autom. 159: 111337 (2024) - [j141]René Meléndez-Pérez, Jaime A. Moreno, Leonid M. Fridman:
Bl-homogeneous sliding-mode observers for SISO linear time-varying systems with an unknown input. J. Frankl. Inst. 361(4): 106647 (2024) - [j140]Andrés González, Luis Ovalle, Leonid M. Fridman:
Final Set Adjustment in Barrier Function Adaptation Exploiting Properties of Signed Power-Based Controllers. IEEE Trans. Autom. Control. 69(8): 5486-5491 (2024) - [j139]Manuel A. Estrada, Leonid M. Fridman, Jaime A. Moreno:
Passive Fault-Tolerant Control via Sliding-Mode-Based Lyapunov Redesign. IEEE Trans. Autom. Control. 69(10): 6777-6788 (2024) - [c170]Oleg Sumenkov, Taisia Medvedeva, Sergei V. Gusev, Leonid M. Fridman:
Super-Twisting Algorithm Gain Adjustment Strategy for Manipulator Position Control. ICR 2024: 15-29 - [i14]Manuel A. Estrada, Claudia A. Pérez-Pinacho, Christopher D. Cruz-Ancona, Leonid M. Fridman:
Perturbed Integrators Chain Control via Barrier Function Adaptation and Lyapunov Redesign. CoRR abs/2405.09438 (2024) - 2023
- [j138]Christopher D. Cruz-Ancona, Leonid M. Fridman, Hussein Obeid, Salah Laghrouche, Claudia A. Pérez-Pinacho:
A uniform reaching phase strategy in adaptive sliding mode control. Autom. 150: 110854 (2023) - [j137]David Gómez-Gutiérrez, Rodrigo Aldana-López, Richard Seeber, Marco Tulio Angulo, Leonid M. Fridman:
An arbitrary-order exact differentiator with predefined convergence time bound for signals with exponential growth bound. Autom. 153: 110995 (2023) - [j136]Oscar Texis-Loaiza, René Meléndez-Pérez, Jaime A. Moreno, Leonid M. Fridman:
Bi-Homogeneous Observers for Uncertain 2-DOF Mechanical Systems. IEEE Control. Syst. Lett. 7: 133-138 (2023) - [j135]Marco A. Gómez, Christopher D. Cruz-Ancona, Leonid M. Fridman:
Super Twisting Based Lyapunov Redesign for Uncertain Linear Delay Systems. IEEE Trans. Autom. Control. 68(2): 1107-1113 (2023) - [j134]Jesus Mendoza-Avila, Denis V. Efimov, Leonid M. Fridman, Jaime A. Moreno:
On Stability of Homogeneous Systems in Presence of Parasitic Dynamics. IEEE Trans. Autom. Control. 68(11): 6852-6859 (2023) - [i13]Manuel A. Estrada, Michael Ruderman, Leonid M. Fridman:
Super-twisting based sliding mode control of hydraulic actuator without velocity state. CoRR abs/2310.07675 (2023) - 2022
- [j133]Rosalba Galván-Guerra, Gian Paolo Incremona, Leonid M. Fridman, Antonella Ferrara:
Robust Multi-Model Predictive Control via Integral Sliding Modes. IEEE Control. Syst. Lett. 6: 2623-2628 (2022) - [j132]Andrei Battistel, Tiago Roux Oliveira, Victor Hugo Pereira Rodrigues, Leonid M. Fridman:
Multivariable binary adaptive control using higher-order sliding modes applied to inertially stabilized platforms. Eur. J. Control 63: 28-39 (2022) - [j131]Praveen S. Babu, Debbie Hernández, Bijnan Bandyopadhyay, Leonid M. Fridman:
A Lipschitz continuous sliding mode control for implicit systems. Eur. J. Control 67: 100661 (2022) - [j130]Luis Ovalle, Héctor Ríos, Miguel A. Llama, Leonid M. Fridman:
Continuous Sliding-Mode Output-Feedback Control for Stabilization of a Class of Underactuated Systems. IEEE Trans. Autom. Control. 67(2): 986-992 (2022) - [j129]Jian Wang, Jesus Mendoza-Avila, Denis V. Efimov, Alexander Yu. Aleksandrov, Leonid M. Fridman:
Conditions of Self-Oscillations in Generalized Persidskii Systems. IEEE Trans. Autom. Control. 67(3): 1514-1520 (2022) - [j128]Jorge Dávila, Markus Tranninger, Leonid M. Fridman:
Finite-Time State Observer for a Class of Linear Time-Varying Systems With Unknown Inputs. IEEE Trans. Autom. Control. 67(6): 3149-3156 (2022) - [j127]Christopher D. Cruz-Ancona, Manuel A. Estrada, Leonid M. Fridman:
Barrier Function-Based Adaptive Lyapunov Redesign for Systems Without A Priori Bounded Perturbations. IEEE Trans. Autom. Control. 67(8): 3851-3862 (2022) - [j126]Hernan Haimovich, Leonid M. Fridman, Jaime A. Moreno:
Generalized Super-Twisting for Control Under Time- and State-Dependent Perturbations: Breaking the Algebraic Loop. IEEE Trans. Autom. Control. 67(10): 5646-5652 (2022) - [j125]Jaime A. Moreno, Héctor Ríos, Luis Ovalle, Leonid M. Fridman:
Multivariable Super-Twisting Algorithm for Systems With Uncertain Input Matrix and Perturbations. IEEE Trans. Autom. Control. 67(12): 6716-6722 (2022) - [c169]José Antonio Ortega, Diego Gutierrez-Oribio, Leonid M. Fridman, Jaime A. Moreno:
Robust Stabilization of Furuta's pendulum based on Continuous High Order Sliding Mode Controllers. CDC 2022: 525-530 - [c168]Manuel A. Estrada, Christopher D. Cruz-Ancona, Luis Ovalle, Leonid M. Fridman:
Barrier function-based stabilization of a perturbed chain of integrators with a predefined upperbound of the settling time. CDC 2022: 3015 - [c167]Jesus Mendoza-Avila, Denis V. Efimov, Leonid M. Fridman, Jaime A. Moreno:
An Analysis of Convergence Properties of Finite-Time Homogeneous Controllers Through Its Implementation in a Flexible-Joint Robot. CDC 2022: 5789-5794 - [c166]Marco A. Gómez, Christopher D. Cruz-Ancona, Leonid M. Fridman:
Safe Sliding Mode Control. CCE 2022: 1-6 - [c165]Anil Kumar Pal, Shyam Kamal, Bijnan Bandyopadhyay, Leonid M. Fridman:
On the Predefined, Prescribed and Arbitrary Time Convergence. IECON 2022: 1-6 - [c164]Jing Xu, Emilia Fridman, Leonid M. Fridman, Yugang Niu:
Delayed Sliding Mode Observer Design for Linear Systems with Unknown Inputs and Measurement delays. VSS 2022: 83-88 - [c163]Michael Ruderman, Leonid M. Fridman:
Analysis of relay-based feedback compensation of Coulomb friction. VSS 2022: 95-100 - [c162]Luis Ovalle, Leonid M. Fridman, Rafael Iriarte:
Adaptive Sliding-Mode Control for Perturbed Systems with Zero-Crossing Control Gains. VSS 2022: 184-189 - [i12]Michael Ruderman, Leonid M. Fridman:
Analysis of relay-based feedback compensation of Coulomb friction. CoRR abs/2205.09352 (2022) - [i11]Michael Ruderman, Benjamin Voß, Leonid M. Fridman, Johann Reger:
Disturbance sensitivity analysis and experimental evaluation of continuous sliding mode control. CoRR abs/2208.06608 (2022) - [i10]Marco A. Gómez, Christopher D. Cruz-Ancona, Leonid M. Fridman:
On the Notion of Safe Sliding Mode Control. CoRR abs/2212.01847 (2022) - 2021
- [j124]Salah Laghrouche, Mohamed Harmouche, Yacine Chitour, Hussein Obeid, Leonid M. Fridman:
Barrier function-based adaptive higher order sliding mode controllers. Autom. 123: 109355 (2021) - [j123]Richard Seeber, Hernan Haimovich, Martin Horn, Leonid M. Fridman, Hernán De Battista:
Robust exact differentiators with predefined convergence time. Autom. 134: 109858 (2021) - [j122]Hafiz Ahmed, Rosane Ushirobira, Denis V. Efimov, Leonid M. Fridman, Yongqiang Wang:
Output global oscillatory synchronisation of heterogeneous systems. Int. J. Control 94(7): 1982-1993 (2021) - [j121]Carlos Arturo Martínez-Fuentes, Richard Seeber, Leonid M. Fridman, Jaime A. Moreno:
Saturated Lipschitz Continuous Sliding Mode Controller for Perturbed Systems With Uncertain Control Coefficient. IEEE Trans. Autom. Control. 66(8): 3885-3891 (2021) - [j120]Michael Ruderman, Leonid M. Fridman:
Model-Free Sliding-Mode-Based Detection and Estimation of Backlash in Drives With Single Encoder. IEEE Trans. Control. Syst. Technol. 29(2): 812-817 (2021) - [i9]David Gómez-Gutiérrez, Rodrigo Aldana-López, Richard Seeber, Marco Tulio Angulo, Leonid M. Fridman:
An arbitrary-order predefined-time exact differentiator for signals with exponential growth bound. CoRR abs/2106.00822 (2021) - [i8]Christopher D. Cruz-Ancona, Leonid M. Fridman, Hussein Obeid, Salah Laghrouche:
A uniform reaching phase strategy in adaptive sliding mode control. CoRR abs/2107.00069 (2021) - [i7]Marco A. Gómez, Christopher D. Cruz-Ancona, Leonid M. Fridman:
Super Twisting based Lyapunov Redesign for Uncertain Linear Delay Systems. CoRR abs/2107.00094 (2021) - [i6]Jaime A. Moreno, Héctor Ríos, Luis Ovalle, Leonid M. Fridman:
Multivariable Super-Twisting Algorithm for Systems with Uncertain Input Matrix and Perturbations. CoRR abs/2111.03535 (2021) - 2020
- [j119]Spandan Roy, Simone Baldi, Leonid M. Fridman:
On adaptive sliding mode control without a priori bounded uncertainty. Autom. 111 (2020) - [j118]Anil Kumar Pal, Shyam Kamal, Shyam Krishna Nagar, Bijnan Bandyopadhyay, Leonid M. Fridman:
Design of controllers with arbitrary convergence time. Autom. 112 (2020) - [j117]Debbie Hernández, Eli Abraham Vazquez, Leonid M. Fridman, Branislava Perunicic-Drazenovic:
Zero dynamics assignment and its applications to the stabilization of linear time-varying systems. Autom. 119: 109056 (2020) - [j116]Anil Kumar Pal, Shyam Kamal, Shyam Krishna Nagar, Bijnan Bandyopadhyay, Leonid M. Fridman:
Authors' Reply To: (CI 20-0229) Comments on Design of controllers with arbitrary convergence time [Automatica 108710]. Autom. 122: 109194 (2020) - [j115]Stefan Koch, Markus Reichhartinger, Martin Horn, Leonid M. Fridman:
Discrete-Time Implementation of Homogeneous Differentiators. IEEE Trans. Autom. Control. 65(2): 757-762 (2020) - [j114]W. Alejandro Apaza-Perez, Jaime A. Moreno, Leonid M. Fridman:
Global Sliding Mode Observers for Some Uncertain Mechanical Systems. IEEE Trans. Autom. Control. 65(3): 1348-1355 (2020) - [j113]Chuanlin Zhang, Jun Yang, Yunda Yan, Leonid M. Fridman, Shihua Li:
Semiglobal Finite-Time Trajectory Tracking Realization for Disturbed Nonlinear Systems via Higher-Order Sliding Modes. IEEE Trans. Autom. Control. 65(5): 2185-2191 (2020) - [j112]Jesus Mendoza-Avila, Jaime A. Moreno, Leonid M. Fridman:
Continuous Twisting Algorithm for Third-Order Systems. IEEE Trans. Autom. Control. 65(7): 2814-2825 (2020) - [j111]Hussein Obeid, Salah Laghrouche, Leonid M. Fridman, Yacine Chitour, Mohamed Harmouche:
Barrier Function-Based Adaptive Super-Twisting Controller. IEEE Trans. Autom. Control. 65(11): 4928-4933 (2020) - [j110]Malek Ghanes, Jean-Pierre Barbot, Leonid M. Fridman, Arie Levant, Robert Boisliveau:
A New Varying-Gain-Exponent-Based Differentiator/Observer: An Efficient Balance Between Linear and Sliding-Mode Algorithms. IEEE Trans. Autom. Control. 65(12): 5407-5414 (2020) - [j109]Jing Xu, Emilia Fridman, Leonid M. Fridman, Yugang Niu:
Static Sliding Mode Control of Systems With Arbitrary Relative Degree by Using Artificial Delay. IEEE Trans. Autom. Control. 65(12): 5464-5471 (2020) - [j108]Dzmitry Savitski, Valentin G. Ivanov, Klaus Augsburg, Tomoki Emmei, Hiroyuki Fuse, Hiroshi Fujimoto, Leonid M. Fridman:
Wheel Slip Control for the Electric Vehicle With In-Wheel Motors: Variable Structure and Sliding Mode Methods. IEEE Trans. Ind. Electron. 67(10): 8535-8544 (2020) - [i5]Carlos Arturo Martínez-Fuentes, Ulises Pérez-Ventura, Leonid M. Fridman:
Chattering analysis of Lipschitz continuous sliding-mode controllers. CoRR abs/2004.00819 (2020) - [i4]Richard Seeber, Hernan Haimovich, Martin Horn, Leonid M. Fridman, Hernán De Battista:
Exact differentiators with assigned global convergence time bound. CoRR abs/2005.12366 (2020) - [i3]Christian Fredrik Sætre, Anton S. Shiriaev, Leonid B. Freidovich, Sergei V. Gusev, Leonid M. Fridman:
Robust Orbital Stabilization: A Floquet Theory-based approach. CoRR abs/2011.13674 (2020)
2010 – 2019
- 2019
- [j107]Ulises Pérez-Ventura, Leonid M. Fridman:
Design of super-twisting control gains: A describing function based methodology. Autom. 99: 175-180 (2019) - [j106]Debbie Hernández, Francisco Javier Bejarano, Jorge Dávila, Leonid M. Fridman:
On the strong observability in linear time-varying singular systems. Autom. 101: 60-65 (2019) - [j105]Tiago Roux Oliveira, Victor Hugo Pereira Rodrigues, Leonid M. Fridman:
Generalized Model Reference Adaptive Control by Means of Global HOSM Differentiators. IEEE Trans. Autom. Control. 64(5): 2053-2060 (2019) - [c161]Andrei Battistel, Tiago Roux Oliveira, Victor Hugo Pereira Rodrigues, Leonid M. Fridman:
Multivariable Generalization of BMRAC Algorithm by means of Global HOSM Differentiators with Dynamic Gains. CCTA 2019: 673-678 - [c160]Maximilian Wetzlinger, Markus Reichhartinger, Martin Horn, Leonid M. Fridman, Jaime A. Moreno:
Semi-implicit Discretization of the Uniform Robust Exact Differentiator. CDC 2019: 5995-6000 - [c159]Hussein Obeid, Salah Laghrouche, Leonid M. Fridman:
A Barrier Function Based-Adaptive Super-Twisting Controller for Wind Energy Conversion System. CDC 2019: 7869-7874 - 2018
- [j104]W. Alejandro Apaza-Perez, Jaime A. Moreno, Leonid M. Fridman:
Dissipative approach to sliding mode observers design for uncertain mechanical systems. Autom. 87: 330-336 (2018) - [j103]Hussein Obeid, Leonid M. Fridman, Salah Laghrouche, Mohamed Harmouche:
Barrier function-based adaptive sliding mode control. Autom. 93: 540-544 (2018) - [j102]Tonametl Sanchez, Jaime A. Moreno, Leonid M. Fridman:
Output feedback Continuous Twisting Algorithm. Autom. 96: 298-305 (2018) - [j101]Markus Reichhartinger, Denis V. Efimov, Leonid M. Fridman:
Special issue on differentiators. Int. J. Control 91(9): 1980-1982 (2018) - [j100]Hussein Obeid, Leonid M. Fridman, Salah Laghrouche, Mohamed Harmouche, Mohammad Ali Golkani:
Adaptation of Levant's differentiator based on barrier function. Int. J. Control 91(9): 2019-2027 (2018) - [j99]Tiago Roux Oliveira, Victor Hugo Pereira Rodrigues, Antonio Estrada, Leonid M. Fridman:
Output-feedback variable gain super-twisting algorithm for arbitrary relative degree systems. Int. J. Control 91(9): 2043-2059 (2018) - [j98]W. Alejandro Apaza-Perez, Leonid M. Fridman, Jaime A. Moreno:
Higher order sliding-mode observers with scaled dissipative stabilisers. Int. J. Control 91(11): 2511-2523 (2018) - [j97]Ismael Castillo, Leonid M. Fridman, Jaime A. Moreno:
Super-Twisting Algorithm in presence of time and state dependent perturbations. Int. J. Control 91(11): 2535-2548 (2018) - [j96]Antonio Rosales, Yuri B. Shtessel, Leonid M. Fridman:
Analysis and design of systems driven by finite-time convergent controllers: practical stability approach. Int. J. Control 91(11): 2563-2572 (2018) - [j95]Richard Seeber, Martin Horn, Leonid M. Fridman:
A Novel Method to Estimate the Reaching Time of the Super-Twisting Algorithm. IEEE Trans. Autom. Control. 63(12): 4301-4308 (2018) - [j94]Chandrasekhara Bharath Panathula, Antonio Rosales, Yuri B. Shtessel, Leonid M. Fridman:
Closing Gaps for Aircraft Attitude Higher Order Sliding Mode Control Certification via Practical Stability Margins Identification. IEEE Trans. Control. Syst. Technol. 26(6): 2020-2034 (2018) - [c158]Hussein Obeid, Leonid M. Fridman, Salah Laghrouche, Mohamed Harmouche:
Barrier Function-Based Adaptive Integral Sliding Mode Control. CDC 2018: 5946-5950 - [c157]Rosalba Galván-Guerra, Juan Eduardo Velázquez-Velázquez, Leonid M. Fridman:
Finite-Time Continuous Robust Generation of Self-Oscillation: A Switched Approach. CDC 2018: 5951-5956 - [c156]Markus Tranninger, Sergiy Zhuk, Martin Steinberger, Leonid M. Fridman, Martin Horn:
Sliding Mode Tangent Space Observer for LTV Systems with Unknown Inputs. CDC 2018: 6760-6765 - [c155]Debbie Hernández, Eli Abraham Vazquez, Leonid M. Fridman:
Higher-Order Sliding-Mode Control for Linear Time-Varying Systems. CDC 2018: 7083-7088 - [c154]Diego Gutierrez-Oribio, Angel Mercado-Uribe, Jaime A. Moreno, Leonid M. Fridman:
Stabilization of the Reaction Wheel Pendulum via a Third Order Discontinuous Integral Sliding Mode Algorithm. VSS 2018: 132-137 - [c153]Mohammad Ali Golkani, Leonid M. Fridman, Stefan Koch, Markus Reichhartinger, Martin Horn:
Saturated Continuous Twisting Algorithm. VSS 2018: 138-143 - [c152]Jesus Mendoza-Avila, Jaime A. Moreno, Leonid M. Fridman:
Adaptive Continuous Twisting Algorithm of Third Order. VSS 2018: 144-149 - [c151]Hussein Obeid, Leonid M. Fridman, Salah Laghrouche, Mohamed Harmouche:
Barrier Function-Based Adaptive Twisting Controller. VSS 2018: 198-202 - [c150]Tiago Roux Oliveira, Victor Hugo Pereira Rodrigues, Andrei Battistel, Leonid M. Fridman:
Global Multivariable HOSM Differentiator for Output-Feedback Unit Vector Control of Nonuniform Relative Degree Systems. VSS 2018: 233-238 - [c149]U. Perez, Elisa Capello, Elisabetta Punta, J. Perea, Leonid M. Fridman:
Fault Detection and Isolation for a 3-DOF Helicopter with Sliding Mode Strategies. VSS 2018: 279-284 - [c148]Michael Ruderman, Leonid M. Fridman:
Use of second-order sliding mode observer for low-accuracy sensing in hydraulic machines. VSS 2018: 315-318 - [c147]Markus Tranninger, Martin Steinberger, Leonid M. Fridman, Martin Horn, Sergiy Zhuk:
Robust State Estimation for Linear Time Varying Lateral Vehicle Dynamics with Unknown Road Curvature. VSS 2018: 384-389 - [c146]Antonio Rosales, Luis Ibarra, Leonid M. Fridman, Yuri B. Shtessel, Pedro Ponce, Arturo Molina:
On Parametric Uncertainty in Dynamically Perturbed Sliding Mode Controlled Systems. VSS 2018: 470-474 - [c145]Ulises Pérez-Ventura, Gerke H. Jauch, Jaime A. Moreno, Leonid M. Fridman:
Frequency Domain Analysis of the Extended Super-Twisting Algorithm. VSS 2018: 475-479 - 2017
- [j93]Yuri B. Shtessel, Jaime A. Moreno, Leonid M. Fridman:
Twisting sliding mode control with adaptation: Lyapunov design, methodology and application. Autom. 75: 229-235 (2017) - [j92]Alán Tapia, Miguel Bernal, Leonid M. Fridman:
An LMI approach for second-order sliding set design using piecewise Lyapunov functions. Autom. 79: 61-64 (2017) - [j91]Victor Torres-Gonzalez, Tonametl Sanchez, Leonid M. Fridman, Jaime A. Moreno:
Design of Continuous Twisting Algorithm. Autom. 80: 119-126 (2017) - [j90]Tiago Roux Oliveira, Antonio Estrada, Leonid M. Fridman:
Global and exact HOSM differentiator with dynamic gains for output-feedback sliding mode control. Autom. 81: 156-163 (2017) - [j89]Héctor Ríos, Elisabetta Punta, Leonid M. Fridman:
Fault detection and isolation for nonlinear non-affine uncertain systems via sliding-mode techniques. Int. J. Control 90(2): 218-230 (2017) - [j88]Alán Tapia, Miguel Bernal, Leonid M. Fridman:
Nonlinear sliding mode control design: An LMI approach. Syst. Control. Lett. 104: 38-44 (2017) - [j87]Antonio Rosales, Yuri B. Shtessel, Leonid M. Fridman, Chandrasekhara B. Panathula:
Chattering Analysis of HOSM Controlled Systems: Frequency Domain Approach. IEEE Trans. Autom. Control. 62(8): 4109-4115 (2017) - [c144]Malek Ghanes, Jean-Pierre Barbot, Leonid M. Fridman, Arie Levant:
A second order sliding mode differentiator with a variable exponent. ACC 2017: 3300-3305 - [c143]Chandrasekhara Bharath Panathula, Antonio Rosales, Yuri B. Shtessel, Leonid M. Fridman:
Closing gaps for aircraft attitude Higher Order Sliding Mode Control Certification. ACC 2017: 3718-3723 - [c142]Malek Ghanes, Jean-Pierre Barbot, Leonid M. Fridman, Arie Levant:
A novel differentiator: A compromise between super twisting and linear algorithms. CDC 2017: 5415-5419 - [c141]Jesus Mendoza-Avila, Jaime A. Moreno, Leonid M. Fridman:
An idea for Lyapunov function design for arbitrary order continuous twisting algorithms. CDC 2017: 5426-5431 - [c140]Frida-Gail Rojas-Contreras, Alberto-Ismael Castillo-Lopez, Leonid M. Fridman, Víctor Javier González-Villela:
Trajectory tracking using continuous sliding mode algorithms for differential drive robots. CDC 2017: 6027-6032 - [i2]Ulises Pérez-Ventura, Leonid M. Fridman:
Is It Reasonable to Substitute Discontinuous SMC by Continuous HOSMC? CoRR abs/1705.09711 (2017) - 2016
- [j86]Denis V. Efimov, Andrey Polyakov, Leonid M. Fridman, Wilfrid Perruquetti, Jean-Pierre Richard:
Delayed sliding mode control. Autom. 64: 37-43 (2016) - [j85]Shyam Kamal, Jaime A. Moreno, Asif Chalanga, Bijnan Bandyopadhyay, Leonid M. Fridman:
Continuous terminal sliding-mode controller. Autom. 69: 308-314 (2016) - [j84]Yuri B. Shtessel, Leonid M. Fridman, Franck Plestan:
Adaptive sliding mode control and observation. Int. J. Control 89(9): 1743-1746 (2016) - [j83]Jaime A. Moreno, Daniel Y. Negrete, Victor Torres-Gonzalez, Leonid M. Fridman:
Adaptive continuous twisting algorithm. Int. J. Control 89(9): 1798-1806 (2016) - [j82]Debbie Hernández, Fernando Castaños, Leonid M. Fridman:
Zero-dynamics design and its application to the stabilization of implicit systems. Syst. Control. Lett. 98: 74-78 (2016) - [j81]Héctor Ríos, Denis V. Efimov, Leonid M. Fridman, Jaime A. Moreno, Wilfrid Perruquetti:
Homogeneity Based Uniform Stability Analysis for Time-Varying Systems. IEEE Trans. Autom. Control. 61(3): 725-734 (2016) - [j80]Carlos Vázquez, Stanislav Aranovskiy, Leonid B. Freidovich, Leonid M. Fridman:
Time-Varying Gain Differentiator: A Mobile Hydraulic System Case Study. IEEE Trans. Control. Syst. Technol. 24(5): 1740-1750 (2016) - [j79]Asif Chalanga, Shyam Kamal, Leonid M. Fridman, Bijnan Bandyopadhyay, Jaime A. Moreno:
Implementation of Super-Twisting Control: Super-Twisting and Higher Order Sliding-Mode Observer-Based Approaches. IEEE Trans. Ind. Electron. 63(6): 3677-3685 (2016) - [c139]Elisa Capello, Elisabetta Punta, Leonid M. Fridman:
Strategies for control, fault detection and isolation via sliding mode techniques for a 3-DOF helicopter. CDC 2016: 6464-6469 - [c138]Andrea Aparicio Martinez, Denis V. Efimov, Leonid M. Fridman:
ISS-Lyapunov functions for output feedback sliding modes. CDC 2016: 7306-7311 - [c137]Stefan Koch, Markus Reichhartinger, Martin Horn, Leonid M. Fridman:
Sampled describing function analysis of second order sliding modes. CDC 2016: 7318-7324 - [c136]Ismael Castillo, Martin Steinberger, Leonid M. Fridman, Jaime A. Moreno, Martin Horn:
Saturated Super-Twisting Algorithm based on Perturbation Estimator. CDC 2016: 7325-7328 - [c135]Ulises Pérez-Ventura, Leonid M. Fridman:
Chattering measurement in SMC and HOSMC. VSS 2016: 108-113 - [c134]Stefan Koch, Markus Reichhartinger, Martin Horn, Leonid M. Fridman:
Discrete implementation of sliding mode controllers satisfying accuracy level specifications. VSS 2016: 154-159 - [c133]Sohom Chakrabarty, Bijnan Bandyopadhyay, Jaime A. Moreno, Leonid M. Fridman:
Discrete sliding mode control for systems with arbitrary relative degree output. VSS 2016: 160-165 - [c132]Martin Steinberger, Ismael Castillo, Martin Horn, Leonid M. Fridman:
Model predictive output integral sliding mode control. VSS 2016: 228-233 - [c131]Mohammad Ali Golkani, Leonid M. Fridman, Stefan Koch, Markus Reichhartinger, Martin Horn:
Observer-based saturated output feedback control using twisting algorithm. VSS 2016: 246-250 - [c130]Tiago Roux Oliveira, Antonio Estrada, Leonid M. Fridman:
Output-feedback generalization of Variable Gain Super-Twisting Sliding Mode Control via global HOSM differentiators. VSS 2016: 257-262 - [c129]Ismael Castillo, Martin Steinberger, Leonid M. Fridman, Jaime A. Moreno, Martin Horn:
Saturated Super-Twisting Algorithm: Lyapunov based approach. VSS 2016: 269-273 - [c128]Ismael Castillo, Leonid M. Fridman, Jaime A. Moreno:
Super-Twisting algorithm for systems with uncertain control gain: A Lyapunov based approach. VSS 2016: 340-344 - 2015
- [j78]Héctor Ríos, Shyam Kamal, Leonid M. Fridman, Ali Zolghadri:
Fault tolerant control allocation via continuous integral sliding-modes: A HOSM-Observer approach. Autom. 51: 318-325 (2015) - [j77]Alejandra Ferreira de Loza, Jérôme Cieslak, David Henry, Ali Zolghadri, Leonid M. Fridman:
Output tracking of systems subjected to perturbations and a class of actuator faults based on HOSM observation and identification. Autom. 59: 200-205 (2015) - [j76]Hocine Imine, Leonid M. Fridman, Tarek Madani:
Identification of vehicle parameters and estimation of vertical forces. Int. J. Syst. Sci. 46(16): 2996-3009 (2015) - [c127]Ismael Castillo, Carlos Vázquez, Leonid M. Fridman:
Overhead crane control through LQ singular surface design MATLAB Toolbox. ACC 2015: 5847-5852 - [c126]Tiago Roux Oliveira, Antonio Estrada, Leonid M. Fridman:
Global exact differentiator based on higher-order sliding modes and dynamic gains for globally stable output-feedback control. CDC 2015: 4109-4114 - [c125]W. Alejandro Apaza-Perez, Leonid M. Fridman, Jaime A. Moreno:
Dissipative approach to design sliding-mode observers for uncertain unstable mechanical systems. CDC 2015: 4728-4733 - [c124]Antonio Rosales, Yuri B. Shtessel, Leonid M. Fridman, Chandrasekhara Bharath Panathula:
Frequency domain analysis of HOSM systems. CDC 2015: 4758-4763 - [c123]Victor Torres-Gonzalez, Leonid M. Fridman, Jaime A. Moreno:
Continuous Twisting Algorithm. CDC 2015: 5397-5401 - [c122]Denis V. Efimov, Andrei Polyakov, Leonid M. Fridman, Wilfrid Perruquetti, Jean-Pierre Richard:
A note on continuous delayed sliding mode control. ECC 2015: 2396-2401 - [c121]Andrea Aparicio Martinez, Fernando Castaños, Leonid M. Fridman:
ISS properties of sliding-mode controllers for systems with matched and unmatched disturbances. ECC 2015: 2865-2870 - 2014
- [j75]Fernando Castaños, Debbie Hernández, Leonid M. Fridman:
Integral sliding-mode control for linear time-invariant implicit systems. Autom. 50(3): 971-975 (2014) - [j74]Xing-Gang Yan, Qingling Zhang, Sarah K. Spurgeon, Quanmin Zhu, Leonid M. Fridman:
Decentralised control for complex systems - an invited survey. Int. J. Model. Identif. Control. 22(4): 285-297 (2014) - [j73]Michael V. Basin, Leonid M. Fridman, Wilfrid Perruquetti:
Special issue on 2010-2012 Advances in Variable Structure Systems and Sliding Mode Algorithms. J. Frankl. Inst. 351(4): 1823-1830 (2014) - [j72]Andrey Polyakov, Leonid M. Fridman:
Stability notions and Lyapunov functions for sliding mode control systems. J. Frankl. Inst. 351(4): 1831-1865 (2014) - [j71]Marco Tulio Angulo, Jaime A. Moreno, Leonid M. Fridman:
On functional observers for linear systems with unknown inputs and HOSM differentiators. J. Frankl. Inst. 351(4): 1982-1994 (2014) - [j70]Carlos Vázquez, Joaquin Collado, Leonid M. Fridman:
Super twisting control of a parametrically excited overhead crane. J. Frankl. Inst. 351(4): 2283-2298 (2014) - [j69]Alejandra Ferreira de Loza, Elisabetta Punta, Leonid M. Fridman, Giorgio Bartolini, Sébastien Delprat:
Nested backward compensation of unmatched perturbations via HOSM observation. J. Frankl. Inst. 351(5): 2397-2410 (2014) - [j68]Lamri Nehaoua, Dalil Ichalal, Hichem Arioui, Jorge Dávila, Saïd Mammar, Leonid M. Fridman:
An Unknown-Input HOSM Approach to Estimate Lean and Steering Motorcycle Dynamics. IEEE Trans. Veh. Technol. 63(7): 3116-3127 (2014) - [c120]Héctor Ríos, Denis V. Efimov, Leonid M. Fridman, Jaime A. Moreno, Wilfrid Perruquetti:
Uniform stability analysis for time-varying systems applying homogeneity. CDC 2014: 3898-3902 - [c119]Antonio Rosales, Leonid M. Fridman, Yuri B. Shtessel:
SMC with linear dynamic compensator design: Performance margins approach. CDC 2014: 4759-4764 - [c118]Carlos Vázquez, Stanislav Aranovskiy, Leonid B. Freidovich, Leonid M. Fridman:
Second order sliding mode control of a mobile hydraulic crane. CDC 2014: 5530-5535 - [c117]Andrea Aparicio Martinez, Fernando Castaños, Leonid M. Fridman:
ISS-Lyapunov functions for output feedback sliding modes. CDC 2014: 5536-5541 - [c116]Asif Chalanga, Shyam Kamal, Leonid M. Fridman, Bijnan Bandyopadhyay, Jaime A. Moreno:
How to implement Super-Twisting Controller based on sliding mode observer? VSS 2014: 1-6 - [c115]Rosalba Galván-Guerra, Leonid M. Fridman:
Output integral sliding mode based robustified LQ control for switched uncertain systems. VSS 2014: 1-6 - [c114]Shyam Kamal, Asif Chalanga, Jaime A. Moreno, Leonid M. Fridman, Bijnan Bandyopadhyay:
Higher order super-twisting algorithm. VSS 2014: 1-5 - [c113]Héctor Ríos, Elisabetta Punta, Leonid M. Fridman:
Fault detection for nonlinear non-affine systems via sliding-mode output-feedback and HOSM differentiator. VSS 2014: 1-6 - [c112]Antonio Rosales, Leonid M. Fridman, Yuri B. Shtessel:
Practical relative degree in SMC systems: Frequency domain approach. VSS 2014: 1-5 - 2013
- [j67]Marco Tulio Angulo, Jaime A. Moreno, Leonid M. Fridman:
Robust exact uniformly convergent arbitrary order differentiator. Autom. 49(8): 2489-2495 (2013) - [j66]Marco Tulio Angulo, Leonid M. Fridman, Jaime A. Moreno:
Output-feedback finite-time stabilization of disturbed feedback linearizable nonlinear systems. Autom. 49(9): 2767-2773 (2013) - [j65]Antonio Estrada, Antonio Loría, Raul Santiesteban-Cos, Leonid M. Fridman:
Cascaded-based stabilization of time-varying systems using second-order sliding modes. IMA J. Math. Control. Inf. 30(1): 115-128 (2013) - [j64]Rafael Iriarte, Luis T. Aguilar, Leonid M. Fridman:
Second order sliding mode tracking controller for inertia wheel pendulum. J. Frankl. Inst. 350(1): 92-106 (2013) - [j63]Carlos Vázquez, Joaquin Collado, Leonid M. Fridman:
Control of a Parametrically Excited Crane: A Vector Lyapunov Approach. IEEE Trans. Control. Syst. Technol. 21(6): 2332-2340 (2013) - [j62]Carolina Evangelista, Paul F. Puleston, Fernando Valenciaga, Leonid M. Fridman:
Lyapunov-Designed Super-Twisting Sliding Mode Control for Wind Energy Conversion Optimization. IEEE Trans. Ind. Electron. 60(2): 538-545 (2013) - [c111]Lamri Nehaoua, Dalil Ichalal, Hichem Arioui, Saïd Mammar, Leonid M. Fridman:
Lean and steering motorcycle dynamics reconstruction: An unknown-input HOSMO approach. ACC 2013: 2821-2826 - [c110]Emmanuel Cruz-Zavala, Jaime A. Moreno, Leonid M. Fridman:
Fast second-order Sliding Mode Control design based on Lyapunov function. CDC 2013: 2858-2863 - [c109]Ana Gabriela Gallardo-Hernández, Leonid M. Fridman, Aldo Eslava Escobar, Jorge Dávila, Ron S. Leder, Maria Cristina Revilla-Monsalve, Sergio Islas-Andrade, Ana Luisa Hernandez Perez:
Robust control for propofol induced anesthesia based on Second-Order Sliding-Mode Control. CDC 2013: 2864-2869 - [c108]Carlos Vázquez, Leonid M. Fridman, Joaquin Collado:
Second Order Sliding Mode Control of an Overhead-Crane in the presence of external perturbations. CDC 2013: 2876-2880 - [c107]Antonio Rosales, Yuri B. Shtessel, Leonid M. Fridman:
Performance margins in conventional and second order sliding mode controllers. CDC 2013: 3572-3577 - [c106]Andrea Aparicio Martinez, Fernando Castaños, Leonid M. Fridman:
Dynamic surface for output feedback sliding modes, the case of relative degree two. CDC 2013: 3578-3583 - [c105]Ismael Castillo, Leonid M. Fridman:
MATLAB Toolbox for singular LQ based Sliding Mode Control design. CDC 2013: 4242-4247 - [c104]Ana Gabriela Gallardo-Hernández, Jonathan Eslava Escobar, Ron S. Leder, Ana Luisa Hernandez Perez, Leonid M. Fridman, Jorge Dávila, Maria Cristina Revilla-Monsalve, Sergio Islas-Andrade:
High-order sliding-mode control for anesthesia. EMBC 2013: 201-204 - [c103]Leonid M. Fridman, Manuel A. Jiménez-Lizárraga, Efraín Ibarra:
Integral Higher Order Sliding Mode and singular optimal stabilization. ECC 2013: 3760-3763 - [i1]Debbie Hernández, Fernando Castaños, Leonid M. Fridman:
Pole-placement in higher-order sliding-mode control. CoRR abs/1309.3317 (2013) - 2012
- [j61]Marco Tulio Angulo, Leonid M. Fridman, Arie Levant:
Output-feedback finite-time stabilization of disturbed LTI systems. Autom. 48(4): 606-611 (2012) - [j60]Denis V. Efimov, Leonid M. Fridman, Tarek Raïssi, Ali Zolghadri, Ramatou Seydou:
Interval estimation for LPV systems applying high order sliding mode techniques. Autom. 48(9): 2365-2371 (2012) - [j59]Emmanuel Cruz-Zavala, Jaime A. Moreno, Leonid M. Fridman:
Uniform sliding mode controllers and uniform sliding surfaces. IMA J. Math. Control. Inf. 29(4): 491-505 (2012) - [j58]Yuri B. Shtessel, Christian H. Tournes, Leonid M. Fridman:
Advances in Guidance and Control of Aerospace Vehicles using Sliding Mode Control and Observation Techniques. J. Frankl. Inst. 349(2): 391-396 (2012) - [j57]Liset Fraguela Cuesta, Leonid M. Fridman, Vladimir V. Alexandrov:
Position stabilization of a Stewart platform: High-order sliding mode observers based approach. J. Frankl. Inst. 349(2): 441-455 (2012) - [j56]Valery Y. Glizer, Vladimir Turetsky, Leonid M. Fridman, Josef Shinar:
History-dependent modified sliding mode interception strategies with maximal capture zone. J. Frankl. Inst. 349(2): 638-657 (2012) - [j55]Laloui Derafa, Abdelaziz Benallegue, Leonid M. Fridman:
Super twisting control algorithm for the attitude tracking of a four rotors UAV. J. Frankl. Inst. 349(2): 685-699 (2012) - [j54]Michael V. Basin, Leonid M. Fridman, Peng Shi:
Optimal sliding mode algorithms for dynamic systems. J. Frankl. Inst. 349(4): 1317-1322 (2012) - [j53]Alejandra Ferreira de Loza, Manuel A. Jiménez-Lizárraga, Leonid M. Fridman:
Robust output Nash strategies based on sliding mode observation in a two-player differential game. J. Frankl. Inst. 349(4): 1416-1429 (2012) - [j52]Liset Fraguela Cuesta, Leonid M. Fridman, Vladimir V. Alexandrov:
Output integral sliding mode control to stabilize position of a Stewart platform. J. Frankl. Inst. 349(4): 1526-1542 (2012) - [j51]Héctor Ríos, Jorge Dávila, Leonid M. Fridman:
High-order sliding mode observers for nonlinear autonomous switched systems with unknown inputs. J. Frankl. Inst. 349(10): 2975-3002 (2012) - [j50]Tenoch Gonzalez, Jaime A. Moreno, Leonid M. Fridman:
Variable Gain Super-Twisting Sliding Mode Control. IEEE Trans. Autom. Control. 57(8): 2100-2105 (2012) - [j49]Luca Massimiliano Capisani, Antonella Ferrara, Alejandra Ferreira de Loza, Leonid M. Fridman:
Manipulator Fault Diagnosis via Higher Order Sliding-Mode Observers. IEEE Trans. Ind. Electron. 59(10): 3979-3986 (2012) - [j48]Hocine Imine, Leonid M. Fridman, Tarek Madani:
Steering Control for Rollover Avoidance of Heavy Vehicles. IEEE Trans. Veh. Technol. 61(8): 3499-3509 (2012) - [c102]Héctor Ríos, Denis V. Efimov, Jorge Dávila, Tarek Raïssi, Leonid M. Fridman, Ali Zolghadri:
State Estimation for Linear Switched Systems with Unknown Inputs. ADHS 2012: 271-276 - [c101]Denis V. Efimov, Leonid M. Fridman, Tarek Raïssi, Ali Zolghadri:
Set-membership estimation improvement applying HOSM differentiators. ACC 2012: 5372-5376 - [c100]José Antonio Rosales, Yuri B. Shtessel, Leonid M. Fridman:
Phase and gain margins in systems with SMC/HOSM. ACC 2012: 5389-5394 - [c99]Marco Tulio Angulo, Jaime A. Moreno, Leonid M. Fridman:
Optimal gain for the Super-Twisting differentiator in the presence of measurement noise. ACC 2012: 6154-6159 - [c98]Jose Kochalummoottil, Yuri B. Shtessel, Jaime A. Moreno, Leonid M. Fridman:
Output feedback adaptive twisting control: A Lyapunov design. ACC 2012: 6172-6177 - [c97]Carlos Vázquez, Joaquin Collado, Leonid M. Fridman:
On the second order sliding mode control of a parametrically excited overhead-crane. ACC 2012: 6288-6293 - [c96]Xing-Gang Yan, Sarah K. Spurgeon, Peng Shi, Leonid M. Fridman:
Decentralised variable structure observers for nonlinear time delay systems with unknown interconnections. CDC 2012: 332-337 - [c95]Héctor Ríos, Jorge Dávila, Leonid M. Fridman, Denis V. Efimov:
State estimation for linear switched systems with unstable invariant zeros and unknown inputs. CDC 2012: 5499-5504 - [c94]Fernando Castaños, Debbie Hernández, Leonid M. Fridman:
Integral sliding mode control for linear time-invariant implicit descriptions. CDC 2012: 6442-6447 - [c93]Emmanuel Cruz-Zavala, Jaime A. Moreno, Leonid M. Fridman:
Asymptotic stabilization in fixed time via sliding mode control. CDC 2012: 6460-6465 - [c92]Carlos Vázquez, Leonid M. Fridman, Joaquin Collado:
Second order sliding mode control of a 3-Dimensional Overhead-Crane. CDC 2012: 6472-6476 - [c91]Liset Fraguela Cuesta, Marco Tulio Angulo, Jaime A. Moreno, Leonid M. Fridman:
Design of a prescribed convergence time uniform Robust Exact Observer in the presence of measurement noise. CDC 2012: 6615-6620 - [c90]Marco Tulio Angulo, Jaime A. Moreno, Leonid M. Fridman:
The differentiation error of noisy signals using the Generalized Super-Twisting differentiator. CDC 2012: 7383-7388 - [c89]Héctor Ríos, Jorge Dávila, Leonid M. Fridman:
Discrete state reconstruction for mechanical switched systems using high-order sliding-mode identification techniques. CDC 2012: 7395-7400 - [c88]Ana Gabriela Gallardo-Hernández, Maria Cristina Revilla-Monsalve, Leonid M. Fridman, Ron S. Leder, Sergio Islas-Andrade, Yuri B. Shtessel:
Experimental glucose regulation with a High-Order Sliding-Mode Controller. EMBC 2012: 2056-2059 - [c87]Laloui Derafa, AbdelHafid El Hadri, Leonid M. Fridman:
External Perturbation Estimation Based on Super-Twisting Algorithm for Attitude Control of UAVs. ROCOND 2012: 746-752 - [c86]Hocine Imine, Leonid M. Fridman, Hassan Shraim:
Identification of heavy vehicle parameters and impact forces estimation: Experimental results. VSS 2012: 63-69 - [c85]Marco Tulio Angulo, Jaime A. Moreno, Leonid M. Fridman:
Some remarks about the tradeoffs between exactness and robustness in control. VSS 2012: 82-87 - [c84]Carlos Vázquez, Leonid M. Fridman, Joaquin Collado:
Generalized "Twisting" controller of a parametrically excited crane. VSS 2012: 111-116 - [c83]Ramon Miranda, Jaime A. Moreno, Isaac Chairez, Leonid M. Fridman:
Observer design for a class of hyperbolic PDE equation based on a Distributed Super Twisting Algorithm. VSS 2012: 367-372 - [c82]Héctor Ríos, Jorge Dávila, Leonid M. Fridman:
High-order sliding modes observers for linear autonomous-switched systems with unknown inputs. VSS 2012: 428-433 - 2011
- [j47]Denis V. Efimov, Leonid M. Fridman:
Global sliding-mode observer with adjusted gains for locally Lipschitz systems. Autom. 47(3): 565-570 (2011) - [j46]Fernando Castaños, Leonid M. Fridman:
Dynamic switching surfaces for output sliding mode control: An Hinfinity approach. Autom. 47(9): 1957-1961 (2011) - [j45]Francisco Javier Bejarano, Leonid M. Fridman:
State exact reconstruction for switched linear systems via a super-twisting algorithm. Int. J. Syst. Sci. 42(5): 717-724 (2011) - [j44]Leonid M. Fridman, Jorge Dávila, Arie Levant:
Variable structure methods for hybrid systems. Int. J. Syst. Sci. 42(11): 1843-1845 (2011) - [j43]Marco Tulio Angulo, Leonid M. Fridman, Arie Levant:
Robust exact finite-time output based control using high-order sliding modes. Int. J. Syst. Sci. 42(11): 1847-1857 (2011) - [j42]Denis V. Efimov, Leonid M. Fridman:
A Hybrid Robust Non-Homogeneous Finite-Time Differentiator. IEEE Trans. Autom. Control. 56(5): 1213-1219 (2011) - [j41]Matteo Rubagotti, Antonio Estrada, Fernando Castaños, Antonella Ferrara, Leonid M. Fridman:
Integral Sliding Mode Control for Nonlinear Systems With Matched and Unmatched Perturbations. IEEE Trans. Autom. Control. 56(11): 2699-2704 (2011) - [j40]Emmanuel Cruz-Zavala, Jaime A. Moreno, Leonid M. Fridman:
Uniform Robust Exact Differentiator. IEEE Trans. Autom. Control. 56(11): 2727-2733 (2011) - [j39]Alejandra Ferreira, Francisco Javier Bejarano, Leonid M. Fridman:
Robust Control With Exact Uncertainties Compensation: With or Without Chattering? IEEE Trans. Control. Syst. Technol. 19(5): 969-975 (2011) - [j38]Alexander G. Loukianov, José M. Cañedo, Leonid M. Fridman, Adolfo Soto-Cota:
High-Order Block Sliding-Mode Controller for a Synchronous Generator With an Exciter System. IEEE Trans. Ind. Electron. 58(1): 337-347 (2011) - [c81]José Antonio Rosales, Igor Boiko, Leonid M. Fridman:
Loop gain adjustment for second order sliding modes. ACC 2011: 769-774 - [c80]Antonio Estrada, Antonio Loría, Raul Santiesteban-Cos, Leonid M. Fridman:
Lyapunov stability analysis of a twisting based control algorithm for systems with unmatched perturbations. CDC/ECC 2011: 4586-4591 - [c79]Emmanuel Cruz-Zavala, Jaime A. Moreno, Leonid M. Fridman:
Second-order uniform exact sliding mode control with uniform sliding surface. CDC/ECC 2011: 4616-4621 - [c78]Ana Gabriela Gallardo-Hernández, Leonid M. Fridman, Arie Levant, Yuri B. Shtessel, Ron S. Leder, Maria Cristina Revilla-Monsalve, Sergio Islas-Andrade:
High-Order Sliding-Mode control of blood glucose concentration via practical relative degree identification. CDC/ECC 2011: 5786-5791 - [c77]Liset Fraguela Cuesta, Leonid M. Fridman, Vladimir V. Alexandrov:
Position stabilization of a Stewart platform: High-order sliding mode observers based approach. CDC/ECC 2011: 5971-5976 - [c76]Jose Kochalummoottil, Yuri B. Shtessel, Jaime A. Moreno, Leonid M. Fridman:
Adaptive twist sliding mode control: A Lyapunov design. CDC/ECC 2011: 7623-7628 - [c75]Marco Tulio Angulo, Jaime A. Moreno, Leonid M. Fridman:
An exact and uniformly convergent arbitrary order differentiator. CDC/ECC 2011: 7629-7634 - [c74]Lamri Nehaoua, Hichem Arioui, Leonid M. Fridman:
Force feedback control based on VGSTA for single track riding simulator. CDC/ECC 2011: 8243-8248 - [c73]Ana Gabriela Gallardo-Hernández, Leonid M. Fridman, Ron S. Leder, Sergio Islas-Andrade, Maria Cristina Revilla-Monsalve, Yuri B. Shtessel, Arie Levant:
High-order sliding-mode control for blood glucose regulation in the presence of uncertain dynamics. EMBC 2011: 3998-4001 - [c72]Hocine Imine, Tarek Madani, Leonid M. Fridman:
Sliding-mode controller for heavy vehicle lane departure avoidance. ICCA 2011: 372-377 - 2010
- [j37]Antonio Estrada, Leonid M. Fridman:
Quasi-continuous HOSM control for systems with unmatched perturbations. Autom. 46(11): 1916-1919 (2010) - [j36]Francisco Javier Bejarano, Leonid M. Fridman:
High order sliding mode observer for linear systems with unbounded unknown inputs. Int. J. Control 83(9): 1920-1929 (2010) - [j35]Arie Levant, Leonid M. Fridman:
Accuracy of Homogeneous Sliding Modes in the Presence of Fast Actuators. IEEE Trans. Autom. Control. 55(3): 810-814 (2010) - [j34]Antonio Estrada, Leonid M. Fridman:
Integral HOSM Semiglobal Controller for Finite-Time Exact Compensation of Unmatched Perturbations. IEEE Trans. Autom. Control. 55(11): 2645-2649 (2010) - [c71]Alejandro Dávila, Jaime A. Moreno, Leonid M. Fridman:
Variable gains super-twisting algorithm: A Lyapunov based design. ACC 2010: 968-973 - [c70]Jorge A. Dávila, Michael V. Basin, Leonid M. Fridman:
Finite-time parameter identification via high-order sliding mode observer. ACC 2010: 2960-2964 - [c69]Emmanuel Cruz-Zavala, Jaime A. Moreno, Leonid M. Fridman:
Uniform Robust Exact Differentiator. CDC 2010: 102-107 - [c68]Héctor Ríos, Jorge Dávila, Leonid M. Fridman:
State observation for non-linear switched systems using non-homogeneous HOSM observers. CDC 2010: 1287-1292 - [c67]Alejandra Ferreira, Leonid M. Fridman, Elisabetta Punta, Giorgio Bartolini:
Output nested backward compensation of unmatched effects of unknown inputs. CDC 2010: 1448-1453 - [c66]Yuri B. Shtessel, Jaime A. Moreno, Franck Plestan, Leonid M. Fridman, Alexander S. Poznyak:
Super-twisting adaptive sliding mode control: A Lyapunov design. CDC 2010: 5109-5113 - [c65]Denis V. Efimov, Leonid M. Fridman:
A hybrid global robust finite-time differentiator. CDC 2010: 5114-5119 - [c64]Iván Salgado, Isaac Chairez, Jaime A. Moreno, Leonid M. Fridman:
Design of mixed Luenberger and sliding continuous mode observer using sampled output information. CDC 2010: 5138-5143 - [c63]Iván Salgado, Jaime A. Moreno, Leonid M. Fridman, Alexander S. Poznyak, Isaac Chairez:
Design of variable gain super-twisting observer for nonlinear systems with sampled output. CCE 2010: 153-157
2000 – 2009
- 2009
- [j33]Jorge Dávila, Leonid M. Fridman, Alessandro Pisano, Elio Usai:
Finite-time state observation for non-linear uncertain systems via higher-order sliding modes. Int. J. Control 82(8): 1564-1574 (2009) - [j32]Luis T. Aguilar, Igor Boiko, Leonid M. Fridman, Rafael Iriarte:
Generating self-excited oscillations for underactuated mechanical systems via two-relay controller. Int. J. Control 82(9): 1678-1691 (2009) - [j31]Francisco Javier Bejarano, Leonid M. Fridman, Alexander S. Poznyak:
Unknown Input and State Estimation for Unobservable Systems. SIAM J. Control. Optim. 48(2): 1155-1178 (2009) - [j30]Igor Boiko, Leonid M. Fridman, Alessandro Pisano, Elio Usai:
On the Transfer Properties of the "Generalized Sub-Optimal" Second-Order Sliding Mode Control Algorithm. IEEE Trans. Autom. Control. 54(2): 399-403 (2009) - [j29]Luis T. Aguilar, Igor Boiko, Leonid M. Fridman, Rafael Iriarte:
Generating Self-Excited Oscillations via Two-Relay Controller. IEEE Trans. Autom. Control. 54(2): 416-420 (2009) - [j28]Francisco Javier Bejarano, Leonid M. Fridman, Alexander S. Poznyak:
Output Integral Sliding Mode for Min-Max Optimization of Multi-Plant Linear Uncertain Systems. IEEE Trans. Autom. Control. 54(11): 2611-2620 (2009) - [c62]Jorge Dávila, Leonid M. Fridman, Alessandro Pisano, Elio Usai:
State observation for quasi-linear uncertain systems by nested high-order sliding mode observer. CCA/ISIC 2009: 1128-1133 - [c61]Vadim Azhmyakov, Magnus Egerstedt, Leonid M. Fridman, Alex Poznyak:
Continuity Properties of Nonlinear Affine Control Systems: Applications to Hybrid and Sliding Mode Dynamics. ADHS 2009: 204-209 - [c60]Leonid M. Fridman, Arie Levant, Jorge Dávila:
High-order sliding modes observer for linear systems with unbounded unknown inputs. ADHS 2009: 216-221 - [c59]Francisco Javier Bejarano, Leonid M. Fridman:
Exact Observer for Switching Linear Systems via Super-Twisting Algorithm. ADHS 2009: 370-375 - [c58]Luis T. Aguilar, Igor Boiko, Leonid M. Fridman, Leonid B. Freidovich:
Inducing oscillations in an inertia wheel pendulum via two-relays controller: Theory and experiments. ACC 2009: 65-70 - [c57]Marco Tulio Angulo Ballesteros, Leonid M. Fridman:
Output-based Finite Time Control of LTI systems with matched perturbations using HOSM. CDC 2009: 6095-6100 - [c56]Alejandra Ferreira de Loza, Francisco Javier Bejarano, Leonid M. Fridman:
Robust output regulation with exact unmatched uncertainties compensation based on HOSM observation. CDC 2009: 6692-6696 - [c55]Francisco Javier Bejarano, Leonid M. Fridman:
Unbounded unknown inputs estimation based on high-order sliding mode differentiator. CDC 2009: 8393-8398 - [c54]Alejandro Dávila, Jaime A. Moreno, Leonid M. Fridman:
Optimal Lyapunov function selection for reaching time estimation of Super Twisting algorithm. CDC 2009: 8405-8410 - [c53]Vincent Brégeault, Franck Plestan, Leonid M. Fridman:
A new structure for a nonlinear observer: A sliding mode based solution. ECC 2009: 5033-5038 - 2008
- [j27]Manuel Iván Castellanos, Igor Boiko, Leonid M. Fridman:
Parameter identification via modified twisting algorithm. Int. J. Control 81(5): 788-796 (2008) - [j26]Eugenii Shustin, Leonid M. Fridman, Emilia Fridman, Fernando Castaños:
Robust Semiglobal Stabilization of the Second Order System by Relay Feedback with an Uncertain Variable Time Delay. SIAM J. Control. Optim. 47(1): 196-217 (2008) - [j25]Juan Resendiz, Wen Yu, Leonid M. Fridman:
Two-Stage Neural Observer for Mechanical Systems. IEEE Trans. Circuits Syst. II Express Briefs 55-II(10): 1076-1080 (2008) - [j24]Alessandro Pisano, Alejandro Dávila, Leonid M. Fridman, Elio Usai:
Cascade Control of PM DC Drives Via Second-Order Sliding-Mode Technique. IEEE Trans. Ind. Electron. 55(11): 3846-3854 (2008) - [c52]Francisco Javier Bejarano, Leonid M. Fridman, Alessandro Pisano:
Global hierarchical observer for linear systems with unknown inputs. CDC 2008: 1883-1888 - [c51]Antonio Estrada, Leonid M. Fridman:
Exact compensation of unmatched perturbation via quasi-continuous HOSM. CDC 2008: 2202-2207 - [c50]Ana Gabriela Gallardo-Hernández, Leonid M. Fridman, Sergio Islas-Andrade, Yuri B. Shtessel:
Quasi-continuous high order sliding modes controllers applied to glucose-insulin regulatory system models. CDC 2008: 2208-2213 - [c49]Eugenii Shustin, Leonid M. Fridman, Emilia Fridman, Fernando Castaños:
Robust semiglobal stabilization of the second order system by relay feedback with an uncertain variable time delay. CDC 2008: 2716-2721 - [c48]Juan Resendiz, Wen Yu, Leonid M. Fridman:
Discrete-time sliding mode neural observer for continuous time mechanical systems. CDC 2008: 2838-2843 - [c47]Jorge Dávila, Leonid M. Fridman, Alessandro Pisano, Elio Usai:
Observation of a class of quasilinear systems by quasi-continuous high-order sliding modes. CDC 2008: 2844-2849 - [c46]Alejandra Ferreira, Manuel A. Jiménez-Lizárraga, Leonid M. Fridman:
Robust output nash strategies based on hierarchical sliding mode observer in a two-player differential game. CDC 2008: 2850-2855 - [c45]Leonid M. Fridman, Yannick Aoustin, Franck Plestan:
Decomposition of existence and stability analysis of periodic solutions of systems with impacts: Application to bipedal walking robot. CDC 2008: 5238-5243 - 2007
- [j23]Francisco Javier Bejarano, Leonid M. Fridman, Alex Poznyak:
Output integral sliding mode control based on algebraic hierarchical observer. Int. J. Control 80(3): 443-453 (2007) - [j22]Leonid M. Fridman, Arie Levant, Jorge Dávila:
Editorial 1: Higher order sliding mode observers. Int. J. Syst. Sci. 38(10): 771-772 (2007) - [j21]Francisco Javier Bejarano, Alexander S. Poznyak, Leonid M. Fridman:
Observation of linear systems with unknown inputs via high-order sliding-modes. Int. J. Syst. Sci. 38(10): 773-791 (2007) - [j20]Igor Boiko, Manuel Iván Castellanos, Leonid M. Fridman:
Super twisting algorithm-based step-by-step sliding mode observers for nonlinear systems with unknown inputs. Int. J. Syst. Sci. 38(10): 803-815 (2007) - [j19]Yuri B. Shtessel, Sarah K. Spurgeon, Leonid M. Fridman:
Editorial 2: Sliding mode observation and identification. Int. J. Syst. Sci. 38(11): 845-846 (2007) - [j18]Michael V. Basin, Alejandra Ferreira, Leonid M. Fridman:
Sliding mode identification and control for linear uncertain stochastic systems. Int. J. Syst. Sci. 38(11): 861-869 (2007) - [j17]Michael V. Basin, Jesús Rodríguez-González, Leonid M. Fridman:
Optimal and robust control for linear state-delay systems. J. Frankl. Inst. 344(6): 830-845 (2007) - [j16]Igor Boiko, Leonid M. Fridman, Alessandro Pisano, Elio Usai:
Performance Analysis of Second-Order Sliding-Mode Control Systems With Fast Actuators. IEEE Trans. Autom. Control. 52(6): 1053-1059 (2007) - [j15]Valery Y. Glizer, Leonid M. Fridman, Vladimir Turetsky:
Cheap Suboptimal Control of an Integral Sliding Mode for Uncertain Systems With Delays. IEEE Trans. Autom. Control. 52(10): 1892-1898 (2007) - [j14]Igor Boiko, Leonid M. Fridman, Alessandro Pisano, Elio Usai:
Analysis of Chattering in Systems With Second-Order Sliding Modes. IEEE Trans. Autom. Control. 52(11): 2085-2102 (2007) - [c44]Christopher Edwards, Leonid M. Fridman, May-Win L. Thein:
Fault Reconstruction in a Leader/Follower Spacecraft System Using Higher Order Sliding Mode Observers. ACC 2007: 408-413 - [c43]Leonid M. Fridman, Yuri B. Shtessel, Christopher Edwards, Xing-Gang Yan:
State Estimation and Input Reconstruction in Nonlinear Systems via Higher Order Sliding Mode Observer. ACC 2007: 3807-3812 - [c42]Mustapha Ouladsine, Hassan Shraim, Leonid M. Fridman, Hassan Noura:
Vehicle Parameter Estimation and Stability Enhancement using the Principles of Sliding Mode. ACC 2007: 5224-5229 - [c41]Francisco Javier Bejarano, Alex Poznyak, Leonid M. Fridman:
Min-Max Output Integral Sliding Mode Control for Multiplant Linear Uncertain Systems. ACC 2007: 5875-5880 - [c40]Angel Rodríguez-Liñán, Jesús de León, Leonid M. Fridman:
Generalized synchronization in reduced-order by quasi-continuous high-order sliding-mode controllers. CDC 2007: 3703-3708 - [c39]Francisco Javier Bejarano, Leonid M. Fridman, Alexander S. Poznyak:
Hierarchical observer for strongly detectable systems via second order sliding mode. CDC 2007: 3709-3714 - [c38]Leonid M. Fridman, Jorge Dávila, Arie Levant:
High-order sliding-mode observation and fault detection. CDC 2007: 4317-4322 - [c37]Alejandra Ferreira, Francisco Javier Bejarano, Leonid M. Fridman:
Output hierarchical super twisting observation based robust feedback control: With or without chattering? CDC 2007: 4335-4340 - 2006
- [j13]Igor Boiko, Leonid M. Fridman, Rafael Iriarte, Alessandro Pisano, Elio Usai:
Parameter tuning of second-order sliding mode controllers for linear plants with dynamic actuators. Autom. 42(5): 833-839 (2006) - [j12]Fernando Castaños, Leonid M. Fridman:
Analysis and design of integral sliding manifolds for systems with unmatched perturbations. IEEE Trans. Autom. Control. 51(5): 853-858 (2006) - [j11]Igor Boiko, Leonid M. Fridman:
Frequency Domain Input-Output Analysis of Sliding-Mode Observers. IEEE Trans. Autom. Control. 51(11): 1798-1803 (2006) - [c36]Luis T. Aguilar, Igor Boiko, Leonid M. Fridman, Rafael Iriarte:
Generation of periodic motions for underactuated mechanical system via second-order sliding-modes. ACC 2006: 1-5 - [c35]Igor Boiko, Manuel Iván Castellanos, Leonid M. Fridman:
Describing function analysis of second order sliding mode observers. ACC 2006: 1-6 - [c34]Igor Boiko, Leonid M. Fridman:
Frequency domain input-output analysis of sliding mode observers. ACC 2006: 1-6 - [c33]Igor Boiko, Leonid M. Fridman:
Frequency domain analysis of second order sliding modes. ACC 2006: 1-6 - [c32]Nacer Kouider M'Sirdi, Abdelhamid Rabhi, Leonid M. Fridman, Jorge Dávila, Y. Delanne:
Second order sliding mode observer for estimation of velocities, wheel sleep, radius and stiffness. ACC 2006: 1-6 - [c31]Rochdi Merzouki, Jorge A. Dávila, Jean-Charles Cadiou, Leonid M. Fridman:
Backlash phenomenon observation and identification. ACC 2006: 1-6 - [c30]Michael V. Basin, Alejandra Ferreira, Leonid M. Fridman:
Sliding Mode Identification and Control for Linear Uncertain Stochastic Systems. CDC 2006: 1339-1344 - [c29]Manuel Iván Castellanos, Igor Boiko, Leonid M. Fridman:
Parameter Identification Via Second Order Sliding Modes. CDC 2006: 1605-1610 - [c28]Luis T. Aguilar, Igor Boiko, Leonid M. Fridman, Rafael Iriarte:
Output Excitation via Continuous Sliding-Modes to Generate Periodic Motion in Underactuated Systems. CDC 2006: 1629-1634 - [c27]Hassan Shraim, Bouchra Ananou, Leonid M. Fridman, Hassan Noura, Mustapha Ouladsine:
Sliding Mode Observers for the Estimation of Vehicle Parameters, Forces and States of the Center of Gravity. CDC 2006: 1635-1640 - [c26]Leonid M. Fridman, Alex Poznyak, Francisco Javier Bejarano:
Hierarchical Second-Order Sliding-Mode Observer for Linear Systems with Unknown Inputs. CDC 2006: 5561-5566 - [c25]Leonid M. Fridman, Arie Levant, Jorge Dávila:
High-Order Sliding-Mode Observation and Identification for Linear Systems with Unknown Inputs. CDC 2006: 5567-5572 - [c24]Nacer K. M'Sirdi, A. Boubezoul, Abdelhamid Rabhi, Leonid M. Fridman:
Estimation of performance of heavy vehicles by sliding modes observers. ICINCO-RA 2006: 360-365 - [c23]Abdelhamid Rabhi, Nacer K. M'Sirdi, Mustapha Ouladsine, Leonid M. Fridman:
Estimation of road profile using second order sliding mode observer. ICINCO-RA 2006: 531-534 - 2005
- [j10]Michael V. Basin, Jesús Rodríguez-González, Pedro Acosta, Leonid M. Fridman:
Optimal and Robust Sliding Mode Regulator for Linear Systems with Delayed Control. Computación y Sistemas 9(2) (2005) - [j9]Jian-Xin Xu, Ya-Jun Pan, Tong Heng Lee, Leonid M. Fridman:
On nonlinear Hinfinity sliding mode control for a class of nonlinear cascade systems. Int. J. Syst. Sci. 36(15): 983-992 (2005) - [j8]Igor Boiko, Leonid M. Fridman:
Analysis of chattering in continuous sliding-mode controllers. IEEE Trans. Autom. Control. 50(9): 1442-1446 (2005) - [j7]Jorge Dávila, Leonid M. Fridman, Arie Levant:
Second-order sliding-mode observer for mechanical systems. IEEE Trans. Autom. Control. 50(11): 1785-1789 (2005) - [c22]Igor Boiko, Leonid M. Fridman, Rafael Iriarte:
Analysis of chattering in continuous sliding mode control. ACC 2005: 2439-2444 - [c21]Arie Levant, Leonid M. Fridman:
Homogeneous Sliding Modes in The Presence of Fast Actuators. CDC/ECC 2005: 572-577 - [c20]Michael V. Basin, Jesús Rodríguez-González, Leonid M. Fridman, Pedro Acosta:
Integral Sliding Mode Controller Design for Stochastic Time-Delay Systems. CDC/ECC 2005: 1953-1958 - [c19]Fernando Castaños, Leonid M. Fridman:
Robust design Criteria for Integral Sliding Surfaces. CDC/ECC 2005: 1976-1981 - 2004
- [j6]Alexander S. Poznyak, Leonid M. Fridman, Francisco Javier Bejarano:
Mini-max integral sliding-mode control for multimodel linear uncertain systems. IEEE Trans. Autom. Control. 49(1): 97-102 (2004) - [j5]Igor Boiko, Leonid M. Fridman, Manuel Iván Castellanos:
Analysis of second-order sliding-mode algorithms in the frequency domain. IEEE Trans. Autom. Control. 49(6): 946-950 (2004) - [c18]Leonid M. Fridman, Alexander S. Poznyak, Francisco Javier Bejarano:
Decomposition of the mini-max multimodel optimal problem via integral sliding mode control. ACC 2004: 620-625 - [c17]Igor Boiko, Leonid M. Fridman, Rafael Iriarte:
Analysis of steady state behavior of second order sliding mode algorithms. ACC 2004: 632-637 - [c16]Adolfo Soto-Cota, Leonid M. Fridman, Alexander G. Loukianov, José M. Cañedo:
Power system singularly perturbed discontinuous control. ACC 2004: 2580-2585 - [c15]Igor Boiko, Leonid M. Fridman, Rafael Iriarte, Alessandro Pisano, Elio Usai:
Analysis of the sub-optimal second-order sliding-mode control algorithm in the frequency domain. CDC 2004: 219-224 - [c14]Igor Boiko, Leonid M. Fridman, Alessandro Pisano, Elio Usai:
Fast oscillations in feedback control systems with fast actuators driven by the second-order sliding mode 'suboptimal' algorithm. CDC 2004: 5285-5290 - 2003
- [c13]Michael V. Basin, Jesús Rodríguez-González, Pedro Acosta, Leonid M. Fridman:
Robust integral sliding mode regulator for linear systems with time delay in control input. ACC 2003: 2138-2143 - [c12]Leonid M. Fridman, P. Acosta, Andrey Polyakov, Vadim Strygin:
Amplitude estimation of oscillations in delayed relay systems. ACC 2003: 2676-2681 - [c11]Alex Poznyak, Leonid M. Fridman, Francisco Javier Bejarano:
Mini-max integral sliding mode control for multimodel linear uncertain systems. CDC 2003: 2988-2993 - [c10]Adolfo Soto-Cota, Alexander G. Loukianov, José M. Cañedo, Leonid M. Fridman:
Variable structure control of synchronous generator: singularly perturbed analysis. CDC 2003: 3513-3518 - [c9]Michael V. Basin, Jesús Rodríguez-González, Pedro Acosta, Leonid M. Fridman:
Robust integral sliding mode regulator for linear systems with multiple time delays in control input. CDC 2003: 4056-4061 - [c8]Leonid M. Fridman, Vadim Strygin, Andrei Polyakov:
Semiglobal stabilization via relay controller with uncertain time delay. CDC 2003: 4074-4079 - [c7]Igor Boiko, Manuel Iván Castellanos, Leonid M. Fridman:
Analysis of second order sliding mode algorithms in the frequency domain. CDC 2003: 4575-4580 - 2002
- [j4]Leonid M. Fridman:
Slow periodic motions in variable structure systems. Int. J. Syst. Sci. 33(14): 1145-1155 (2002) - [j3]Leonid M. Fridman:
Singularly perturbed analysis of chattering in relay control systems. IEEE Trans. Autom. Control. 47(12): 2079-2084 (2002) - [c6]Leonid M. Fridman, Vadim Strygin, Andrei Polyakov:
Nonlocal stabilization via relay delay control gain adaptation. ACC 2002: 2221-2226 - [c5]Michael V. Basin, Leonid M. Fridman, Mikhail Skliar:
Optimal and robust integral sliding mode filter design for systems with continuous and delayed measurements. CDC 2002: 2594-2599 - 2001
- [j2]Leonid M. Fridman:
An averaging approach to chattering. IEEE Trans. Autom. Control. 46(8): 1260-1265 (2001) - [c4]Leonid M. Fridman:
Slow periodic motions in variable structure systems. ACC 2001: 3714-3718 - [c3]Leonid M. Fridman:
Chattering analysis in sliding mode systems with inertial sensors. CDC 2001: 1807-1812 - [c2]Leonid M. Fridman, Vadim Strygin, Andrey Polyakov:
Stabilization of oscillations amplitudes via relay delay control. CDC 2001: 3704-3709 - 2000
- [c1]Leonid M. Fridman:
Analysis of chattering in sliding mode control systems with fast actuators via averaging. ACC 2000: 1129-1133
1990 – 1999
- 1997
- [j1]Giorgio Bartolini, W. Caputo, M. Cecchi, Antonella Ferrara, Leonid M. Fridman:
Vibration damping in elastic robotic structures via sliding modes. J. Field Robotics 14(9): 675-696 (1997)
Coauthor Index
Marco Tulio Angulo
aka: Marco Tulio Angulo Ballesteros
aka: Marco Tulio Angulo Ballesteros
Jorge Dávila
aka: Jorge A. Dávila
aka: Jorge A. Dávila
Alejandra Ferreira
aka: Alejandra Ferreira de Loza
aka: Alejandra Ferreira de Loza
[j141] [j139] [j136] [j134] [j126] [j125] [c169] [c167] [j121] [i6] [j114] [j112] [c160] [j104] [j102] [j98] [j97] [c154] [c152] [c145] [j93] [j91] [c141] [j85] [j83] [j81] [j79] [c136] [c133] [c129] [c128] [c125] [c123] [j71] [c120] [c116] [c114] [j67] [j66] [c110] [j59] [j50] [c99] [c98] [c93] [c91] [c90] [c85] [c83] [j40] [c79] [c76] [c75] [c71] [c69] [c66] [c64] [c63] [c54]
Alex Poznyak
aka: Alexander S. Poznyak
aka: Alexander S. Poznyak
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