A DYNAMIC VARIABLE STRUCTURE CONTROL STRATEGY IN ASYMPTOTIC OUTPUT TRACKING PROBLEMS

In this article a dynamical discontinuous feedback strategy of the sli ding mode type is presented for asymptotic output tracking problems in nonlinear dynamical systems. Fliess' generalized observability canoni cal form (GOCF) is used in the derivation of the dynamical variable st ructure feedback controller. For a large class of nonlinear systems, a truly effective smoothing of the sliding mode controlled responses is possible, while substantially reducing the chattering for the control input. For this reason, the technique is especially suitable for the control of some mechanical and electromechanical systems. An example, including simulations, is provided.