Integral sliding mode control for a class of nonlinear mismatched uncertain systems

A novel method of designing nonlinear robust sliding mode controller is presented to a class of nonlinear mismatched uncertain systems based on integral sliding mode and rate reaching law. Firstly, the existence of equivalent controller is guaranteed. The unmatched is will not be amplified by the discontinuous control. Then the controller based on integral sliding mode and rate reaching law is constructed to ensure the rapid reachability of the sliding surface. It has better performance in rapidity, stationarity and robustness. Both its speed and robustness are discussed theoretically. Finally numerical example validates the performance of the controller design.