Analysis of sliding-mode control systems with relative degree altering perturbations (Q2682297)

Control systems, linear in the control variables, are considered subject to unmatched perturbations which alter the relative degree of the process. A switching function is introduced and the conventional first-order sliding mode control law is obtained, with a sufficient condition for its continuity. The closed-loop system is described. The second-order case is considered in detail. Global asymptotic stability of the closed-loop system is examined. An example is presented.