Further results on smooth sliding control of uncertain systems

This paper considers a recently proposed sliding control scheme for uncertain systems which is free of chattering and results in smooth control signals. The proposed approach relies on an appropriate prediction error. The complete error system is globally and exponentially stable with respect to some small residual set. Under certain assumptions the system further achieves the ideal sliding mode. The case of linear plants of relative degree n*≥1, considering input disturbance and unmodeled dynamics, is completely analysed. Experimental results using a Kalman filter to minimize the quantization noise, illustrate the remarkable behavior of the proposed scheme.