Robust control of uncertain nonlinear systems: a new higher order sliding mode based solution

A new robust higher order sliding mode controller for a class of uncertain minimum-phase nonlinear systems is designed. The controller is built in three steps: a) the higher order sliding mode problem is formulated in input-output term; b) it is viewed in uncertain linear context by considering uncertain nonlinear functions as bounded non structured parametric uncertainties; c) a time varying sliding manifold is designed through the computation of state trajectories ensuring the finite-time convergence. The control law which engenders the sliding on the time varying manifold allows the establishment of an r_th order sliding mode