Mismatched disturbance compensation using sliding mode control

Applicability of he sliding mode control is limited because of unmatched uncertainties and disturbances. A novel sliding mode control design is proposed in his study ensuring theoretically exact compensation of the unmatched perturbations. The proposed scheme uses a nonlinear coordinate to feedback transformation. The transformed control algorithm requires an estimate of mismatched disturbance. A non linear disturbance observer is employed for exact disturbance reconstruction. The proposed control design is tested through a DC moor simulation example.