{"paper":{"title":"A Fair Comparison of Sliding-Mode and Immersion-and-Invariance Observers","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"A.J. Munoz-Vazquez, J.D. Sanchez-Torres","submitted_at":"2026-08-03T09:59:48Z","abstract_excerpt":"Cervantes-P\\'erez et al. (arXiv:2601.12545) claim, on experimental grounds, that high-gain injection is practically inadmissible, taking the SM observer of Davila, Fridman & Poznyak as a prototypical example. We re-simulate their plant, trajectory and gains with explicit Euler integration at \\Delta t = 1 ms and 0.1 ms, and implement both observers on independent hardware. We got three findings: i) the controller gains k_p=1600, k_v=1100 place the tracking-error poles at the \"pathological\" locations -1.455 and -1098.5 (\\zeta = 13.7); the super-twisting scheme lands on the resulting nominal resp"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2608.02000","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2608.02000/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}