MULTIPLE-SURFACE SLIDING CONTROL OF A CLASS OF UNCERTAIN NONLINEAR-SYSTEMS

We develop a 'multiple-surface' sliding control for a class of single- input single-output nonlinear systems whose uncertainties do not satis fy the standard matching condition. A coordinate dependence condition on the uncertainty bound is assumed. A 'computed normal form' is defin ed to handle such uncertainties instead of the normal form used in con ventional input-output linearization. A control algorithm which can be applied to global tracking problems has been developed and evaluated for a benchmark example.