A Response to the Reply Presented in "A Fair Comparison of Sliding-Mode and Immersion-and-Invariance Observers"
This technical report experimentally compared two observers—an Immersion-and-Invariance (I&I) observer and an adaptive sliding-mode (SM) observer—for a pendular system with nonlinear friction. While tuning guidelines were used to reduce chattering, the results showed that chattering was not eliminated in general. The I&I observer provided better estimation performance and smoother estimates.