Robust Nested Sliding Mode Regulation with Application to Induction Motors

In this work a robust nested sliding mode block control is designed for a class of nonlinear systems with unknown matched and unmatched perturbations. It is well known that sliding mode is robust against matched perturbations. In order to enhance this robustness property, a novel nested sliding mode procedure is proposed. The performance of the designed controller has been tested considering an induction motor with unknown load torque and varying stator and rotor resistances, where the only information are the estimation of the upper bounds with respect to the nominal values.