Robust output tracking for MIMO nonlinear time-varying mismatched uncertain systems via hybrid control strategy (Q1384919)

A MIMO control system, linear in the control and with general uncertainties, is considered. The goal is to track a prescribed target, based on an output signal. The method is to separate the error dynamics into a fast part which contains all the uncertainties, and a slow part. Using geometric considerations, in particular the characteristic indices (which are known), a design method is offered. It employs sliding modes and Lyapunov functions. The tracking error is small when the ratio of the time scales is small. Enlightening comments accompany the text. A simulation of a numerical application is displayed.