Robust stabilization of a class of MIMO nonlinear systems: sliding mode control and passification approach

We consider the robust stabilization problem of a class of MIMO nonlinear systems, using sliding mode control and passification approach. In particular, we deal with a class of systems which are minimum phase and are of relative degree (1,...,1). Using continuous approximation of the sliding mode control, an ultimate boundedness result is obtained. Under an assumption of vanishing perturbation, asymptotic stability is shown. Under an assumption of exponentially minimum phase, robust passification is achieved. Simulation results are given