ON MULTIINPUT BACKSTEPPING DESIGN WITH 2ND-ORDER SLIDING MODES FOR A CLASS OF UNCERTAIN NONLINEAR-SYSTEMS

A multi-input control design procedure for uncertain non-linear system s expressible in multi-input parametric-strict feedback form with suit able structural features of the uncertain control matrix is presented in this paper. The proposed procedure, based on the well-known backste pping design technique, exploits the possibility of extending, under s uitable assumptions, to multi-input uncertain systems, a second order sliding mode control approach recently developed, thus reducing the co mputational load, as well as increasing robustness, with respect to th e purely backstepping design.