A new higher order sliding control for continuous linear systems

This paper addresses higher order sliding mode control for continuous linear systems. We propose a new method of reaching control design while the sliding surface and equivalent control can be designed conventionally. The high order derivatives of the sliding surface and the sliding surface itself are forced to zero in an n-th order sliding mode scheme. This is realized by an optimization based on the prediction of the derivatives. An illustrative example-inverted pendulum is given at the end.