Sliding Mode Control of Interconnected Systems Using a Disturbance Observer

This paper proposes a new method for decentralized sliding mode control of interconnected uncertain systems that can ensure local sliding without using information about interconnections or interconnecting states. The control is based on a disturbance observer and no knowledge of bounds of uncertainties and bounds of interconnections is assumed. The stability of the overall system with the disturbance observer is proved and the method is illustrated by simulation for a system of two interconnected inverted pendulums.