An H2 robust control scheme for systems with nonlinearities

This paper proposes a robust control design based-on integral sliding-mode and H₂-norm performance criterion to handle a class of time-varying systems with perturbations including nonlinearities and disturbances. The stabilization problems for such systems are studied: integral sliding-mode is designated to completely nullify the matched perturbations and, in the meantime, eliminate the reaching phase to the sliding surface, while H₂-norm is a robust linear control measured for system on the sliding surface. In addition to the integral sliding mode control, the contribution of the paper is to implement a parameter-dependent Lyapunov function for H₂-norm robust linear control that the overall designed system is less conservative for the system with both matched and unmatched perturbations.