Design of Optimal Sliding Model Controller for a class of Uncertain Cascade Nonlinear System
一类串级不确定非线性系统的最优滑模控制器设计

It is devoted to designing a kind of optimal sliding mode controller based on State Dependent Riccati Equation (SDRE) control for a class of cascade uncertain nonlinear system in this paper. This designed control method has two-loop control structure. The outer loop controller is designed by using a SDRE optimal control to generate an optimal sliding mode surface. The inner loop controller decreases sensitivity to parameter change by using sliding model control. Two methods are given to solve the state dependent Riccati equation. The designed control method can make the system stable and robust. Finally, an example is given to demonstrate the availability of the proposed control method.