ON THE STABILIZATION OF NONLINEAR-SYSTEMS VIA INPUT-DEPENDENT SLIDINGSURFACES

This article proposes the use of sliding regimes, defined on a suitabl e input-dependent sliding surface, as a means of making more robust an y model-based smooth feedback control scheme designed for the stabiliz ation of a general nonlinear plant. The approach naturally produces a, robust, 'outer loop' redundant discontinuous feedback scheme, with se veral advantageous properties regarding insensitivity to external pert urbation signals, modelling errors and sudden failure of the smooth po rtion of the feedback loop.