The design of the piecewise sliding mode control

This paper presents an algorithm using sliding-mode control to achieve the prespecified trajectory tracking for a class of uncertain nonlinear systems. The prespecified trajectory is regarded as a set of piecewise linear sliding surfaces. It is shown that, along the sliding surfaces, the state error will converge to the equilibrium point faster than that of the conventional design method. A rotational inverted pendulum subject to external disturbances is simulated to demonstrate the validity of the proposed method