On second-order sliding-mode control of fractional-order dynamics

A second-order sliding mode control scheme is developed to stabilize a class of linear uncertain fractional-order dynamics. After making a suitable transformation that simplifies the sliding manifold design, a chattering-free second order sliding mode approach that accomplishes the control task by means of a continuous control action is developed. Simple controller tuning formulas are constructively developed along the paper by Lyapunov analysis. The simulation results confirm the expected performance.