| Title |
A New Robust Integral Variable Structure Controller for Uncertain More Affine Nonlinear Systems with Mismatched Uncertainties |
| Keywords |
Uncertain Nonlinear System ; Integral Variable Structure System ; Sliding Mode Control ; Mismatched Uncertainties |
| Abstract |
In this note, a systematic design of a new robust nonlinear integral variable structure controller based on state dependent nonlinear form is presented for the control of uncertain more affine nonlinear systems with mismatched uncertainties and matched disturbance. After an affine uncertain nonlinear system is represented in the form of state dependent nonlinear system, a systematic design of a new robust nonlinear integral variable structure controller is presented. To be linear in the closed loop resultant dynamics and remove the reaching phase problems, the linear integral sliding surface is suggested. A corresponding control input is proposed to satisfy the closed loop exponential stability and the existence condition of the sliding mode on the linear integral sliding surface, which will be investigated in Theorem 1. Through a design example and simulation studies, the usefulness of the proposed controller is verified. |