High order sliding modes in dynamic sliding manifolds: SMC design with uncertain actuator

A problem of sliding mode control design for a SISO system with unmodeled actuators of the first and second order is considered. A design methodology, based on dynamic sliding manifolds (DSM), is proposed to attenuate the chattering phenomenon affecting sliding-mode-controlled plants in the presence of unmodeled dynamics. The proposed methodology maintains the sliding mode on the sliding surface, which is designed without actuator dynamics being considered. This goal is achieved via auxiliary dynamic sliding manifold design; the sliding mode on the auxiliary DSM provides for high order asymptotic sliding mode on the initial surface