Robust Output Tracking of Nonlinear MIMO Systems via Sliding Mode Technique

The robust output tracking control problem of general nonlinear MIMO systems is discussed. The robustness against parameter uncertainties and unknown disturbances is considered A second order sliding mode control (SMC) technique is used to establish the desired tracking. Some earlier SMC strategies which are restricted to the systems in canonical form are extended to much broader class of nonlinear dynamics. The example given manifests that the proposed control strategy is tunable to a desired response despite the disturbances and uncertainties.