Finite-time stabilization of uncertain MIMO systems

Any uncertain smooth multi-input multi-output dynamic system of a full relative degree can be locally finitetime stabilized at its equilibrium point by means of a standard continuous feedback, provided an approximation of the partial-derivatives´ matrix of highest order total output derivatives with respect to controls is available. Homogeneous sliding-mode approach is modified for this sake, and a list of controllers is built. Global finite-time stabilization is possible with a prescribed convergence-time function. The asymptotic output stabilization accuracies in the cases of discrete and noisy sampling can be adjusted in advance. Output-feedback controllers are constructed. Computer simulation confirms the applicability of the approach.