Robust sliding mode control of nonlinear uncertain system via geometric approach

기하학적 접근에 의한 비선형 불확실성 시스템에 대한 강건한 슬라이딩 모드 제어

Variable structure control is applied to the robust output tracking control problem of general nonlinear multi-input multi-output (MIMO) systems. Using the concept of relative degree and minimum phase, input/output(I/O) linearization is undertaken. For I/O the linearized system, a new sliding hyperplanes design method is proposed. In this procedure, we can construct very robust and efficient sliding mode controller for general nonlinear systems of relative degree higher than two. The control results are illustrated by adopting a numerical example.