A generalized regular form for multivariable sliding mode control

The paper shows how to compute a diffeomorphic state space transformation i n order to put the initial mutivariable nonlinear model into an appropriate regular form. This form is an extension of the one proposed by Lukyanov an d Utkin [9], and constitutes a guidance for a "natural" choice of the slidi ng surface. Then stabilization is achieved via a sliding mode strategy. In order to overcome the chattering phenomenon, a new non linear gain is intro duced.