Integral sliding mode control for singular systems with nonlinear uncertainties
带有非线性不确定奇异系统的积分滑模控制

A performance-oriented robust controller is proposed for a class of singular systems with matched and unmatched nonlinear uncertainties. The control scheme consists of 3 control terms: the integral sliding mode control (ISM), the additional nonlinear control and the composite nonlinear feedback control(CNF). The ISM control term rejects matched uncertainties completely and drives the system trajectory to the ideal sliding mode. The additional nonlinear control term attenuates the unmatched nonlinear uncertainties which exist in ideal sliding mode and may affect the performance of the sliding mode. The CNF control term guarantees the output tracking of reference input signal according to the prescribed specifications. Finally, numerical examples are given to illustrate the effectiveness of the proposed approach.