Higher-Order Sliding Mode design with Bounded Integral Control generation

In this paper uncertain continuous-time nonlinear systems affine in the control variable and with saturated actuators are considered. The finite-time regulation problem of system output to zero is then solved by proposing a generic Higher-Order Sliding Mode (HOSM) controller equipped novel mechanism encounter saturation limits, thus extending previous results on inputs valid only case specific r-order sliding mode algorithms. so-called Bounded Integral Control (BIC) method reformulated into framework continuous HOSM, so as replace traditional integrator used generate signal directly fed plant. Stability conditions for tuning proposed algorithm provided, numerical example finally assesses effectiveness technique.