Backstepping based on model reference and sliding mode control

Based on model reference, a global sliding mode controller (GSMC) with a new control scheme is proposed for a practical uncertain servo system. This control scheme consists of two combined controllers. The stability of the proposed controller is based on rigorous Lyapunov stability theorem and Lyapunov function methods. The presented control law can render the closed-loop controlled system asymptotically stabilize at a desired target. The simulation shows it has good position tracking performance and high robustness.