Output-sliding control for a class of nonlinear systems

In this paper, a systematic output-sliding control design methodology for n onlinear multivariable systems is presented. The control law consists of a continuous nominal control and a discontinuous switching control. The forme r is the equivalent control for the system with all uncertainties at zero a nd the latter is designed for nonzero uncertainties. Simulation results ind icate that the proposed switching control law drives the system state traje ctories onto the chosen switching surface in finite time and the output tra cking is achieved. (C) 2001 Elsevier Science Ltd. All rights reserved.