First and second order sliding mode control for a class of single-input nonlinear systems with nonmatched uncertainties

摘要

The aim of this paper is to propose an extension of the use of sliding mode control in the case of nonlinear systems affine in the control law with nonmatched uncertainties. To this end, the backstepping design procedure is followed to construct a suitable sliding manifold that guarantees the attainment of a stabilization control objective. The construction of the sliding manifold is performed so that the problem of steering the sliding quantity to zero in finite time turns out to be solvable through a first or second order sliding mode control approach and the associated zero dynamics are minimum phase.