Sliding mode control of saturated systems with norm bounded uncertainty

This paper deals with robust control of saturated systems. It presents a design methodology of sliding mode control of a class of linear systems with the presence of both constraint of saturation and norm bounded uncertainty. The design of the sliding surface is formulated as a problem of root clustering of reduced uncertain system, what leads to the development of a continuous and non-linear control law. A numerical application of simple pendulum is illustrated to validate the theoretical results of this work.