MIMO Sliding Mode Control: A Lyapunov Approach

The MIMO sliding mode controller (SMC) developed in this paper retains the robustness to parameter variations and disturbances which characterizes traditional SMC systems but is designed using Lyapunov´s direct method As a result, it is not necessary 1) to transform the systems to phase canonical form; 2) to require that each sliding submanifold be stable with respect to the corresponding control variable; or 3) to assume that the state will move successively over all the submanifolds. The net result is an SMC that is applicable to a broader class of linear and nonlinear systems and is capable of better overall performance than previously published SMC´s.