A Response to the Reply Presented in 'A Fair Comparison of Sliding-Mode and Immersion-and-Invariance Observers'

arXiv:2610.20815v1 Announce Type: cross Abstract: In response to the reply presented in [Munoz-Vazquez and Sanchez-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-Perez 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 [Davila et al.(2006)], whose observer gains are selected according to the guidelines proposed in [Munoz-Vazquez and Sanchez-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: arXiv cs.RO | 2026-10-16