An improved second-order sliding-mode control scheme robust against the measurement noise

In this note, the second-order sliding-mode control problem is tackled by explicitly taking into account the presence of measurement error with unknown upper bound δ. Under sensible assumptions regarding the uncertain dynamics of a broad class of nonlinear plants, a new switching controller is proposed guaranteeing a sliding accuracy of order O(δ). Simulations highlight the robustness and good performance of the proposed approach, and confirm the expected precision order.