Design and application of a dynamical sliding mode controller for uncertain nonlinear MIMO systems

Analogous designs of a dynamical sliding mode controller and a conventional sliding mode controller are discussed. Emphasis is on handling of unmodeled dynamics, tuning of controller parameters, suppression of chattering and robust tracking error performance. Both controllers are applicable to nonlinear systems. The robustness to unmodeled dynamics is investigated by experiments and it is concluded that it is approximately the same for these controller schemes.