A nonlinear design approach for sliding mode control systems

The development of sliding mode controllers for nonlinear system descriptions is considered. Conditions for transformation and feedback linearisation of a given nominal representation of an uncertain nonlinear system are well known. The ability of an augmenting sliding mode based control strategy to provide robustness to any unmodelled dynamics and parameter uncertainty is discussed. If a physical system does not lend itself to transformation to a required canonical form, transformation of a nearby system coupled with an appropriate sliding mode control design approach will yield robust performance