Robust control of nonlinear uncertain systems via sliding mode with recursive interlacing design

Robust feedback regulation for a large class of uncertain nonlinear systems without strong assumptions is discussed in this paper. A design technique incorporating combined recursive-interlacing and sliding mode methods for the regulation of certain three-dimensional uncertain systems is proposed. This method can be readily extended to more general higher order nonlinear systems. Finally, a simulated example will be presented which shows that the combined control law attenuates high frequency chattering.