Symbolic packages for dynamic sliding mode output feedback control of nonlinear systems

The combination of symbolic computation and numerical calculation will undoubtedly increase the power of control systems design. Although several control design toolboxes exist, many based on the simulation software MATLAB, they are primarily geared for matrix operations. General nonlinear controller design certainly needs the combination of both symbolic and numerical computations. People may argue that one can use the MATLAB symbolic toolbox which is essentially a small subset of Maple-V. However, this symbolic toolbox can only be used to solve small scale nonlinear control design problems. It is not suitable for general nonlinear computer aided control systems design without further C code for interface, as one cannot dynamically allocate memory for an indexed function of time t of arbitrary dimension, for example. This interface will use no less effort than using Mathlink as an interface between Mathematica and MATLAB. Dynamic sliding mode control using state feedback for minimum phase MIMO systems and for MIMO uncertain systems has been developed. These methods have been implemented with Mathematica and MATLAB using Mathlink as an interface. These packages have been used for nonlinear control design