Asymptotic stabilisation of multiple input nonlinear systems via sliding modes (Q1265398)

An approach for a dynamic feedback controller design is proposed. It combines sliding mode techniques and some nonlinear control theory methods for smooth control systems. The use of dynamic feedback introduces a type of zero dynamics and the existence of a stable sliding mode is inferred from the stability of the closed-loop system. The particular choice of the sliding surface is control dependent. The resulting dynamic feedback provides chatter free control if the system is minimum phase with respect to the zero dynamics. The state trajectory tracking of a Gas Jet system (with two controls) is used to illustrate the proposed approach.