Gain-scheduled high-order MIMO sliding mode control

Multi-Input Multi-Output High-Order Sliding-Mode (HOSM) control is designed, provided the system features well-defined vector relative degree, and an approximation of the corresponding matrix of the high-order output partial derivatives with respect to controls is available. In particular, a gain-scheduling procedure is optional. A finite-time-stable homogeneous HOSM is produced. Asymptotic accuracies are calculated in the presence of noises, delays, discrete sampling. Computer simulation confirms the theoretical results.