Robust sliding mode control based on integral sliding surfaces

Based on a novel robust integral sliding mode surface (RISM), method of designing nonlinear robust sliding mode control is presented. Firstly, the closed-loop system under the sliding mode is proved to be asymptotically stable by using Lyapunov stability theories. Then variable structure control (VSC) is constructed to ensure the reachability of the sliding surface. Robustness of the closed-loop system in the whole state space is obtained. Finally, numerical simulation results are proposed to test the validity and feasibility of the method.