Stabilization of uncertain nonlinear systems via sliding modes

This paper focuses on the stabilization problem of the class of uncertain systems satisfying the condition we named " weakly triangularity". The addressed class includes the systems fui Hing the traditional matching condition, and includes also the strictly triangular uncertainties for which the solution of the stabilization problem is well established in literature. A constructive procedure for system stabilization is proposed, where Variable Structure Control and Feedback Linearization Techniques are combined. Simulation results are reported.