ROBUST SLIDING MODE CONTROL OF UNCERTAIN NONLINEAR-SYSTEMS

A dynamic sliding mode controller design method is proposed for multip le input-output systems with additive uncertainties. A previous result on the stability of triangular systems is generalised to the case of uniform ultimate boundedness of controlled triangular systems. This is used to prove the stability of the overall closed-loop system. The un certain system with appropriately chosen sliding mode control is shown to be ultimately bounded if the zero dynamics of the nominal system a re uniformly asymptotically (exponentially) stable. The design method is demonstrated with two examples. (C) 1997 Elsevier Science B.V.