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A generalized regular form for multivariable sliding mode control

Keywords: Sliding mode control, Multivariable systems, Non linear systems, Stabilization

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The paper shows how to compute a diffeomorphic state space transformation in order to put the initial mutivariable nonlinear model into an appropriate regular form . This form is an extension of the one proposed by Lukyanov and Utkin [9], and constitutes a guidance for a “natural” choice of the sliding surface. Then stabilization is achieved via a sliding mode strategy. In order to overcome the chattering phenomenon, a new nonlinear gain is introduced.


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