Design of Sliding Mode Controllers for Mismatched Uncertain Systems with Unmeasurable States to Achieve Asymptotic Stability
نویسندگان
چکیده
Based on the Lyapunov stability theorem, a sliding mode controller is proposed in this paper for a class of uncertainmulti-inputmulti-output (MIMO) nonlinear systems to solve regulation problems. The perturbed plant contains partly unmeasurable states and unknown mismatched and matched perturbations. By utilizing the designed auxiliary dynamic equations for state estimation, the proposed slidingmode controller is able to drive the state’s trajectory towards a designated sliding surface in finite time and achieve asymptotic stability. Furthermore, the upper bounds of perturbations are not required in the design process due to some adaptive mechanisms are embedded in the auxiliary dynamic equations and controller. A numerical example is also demonstrated for showing the applicability of the proposed design technique.
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