Virtual compensated sliding mode control of non-minimum phase nonlinear systems with uncertainty

The paper studies the robust control of non-minimum phase nonlinear system based on the differential geometry theory. The nonlinear system could be expressed as input-output dynamics with the unstable internal modes, through nonlinear coordinate transformation. Virtual controller is introduced to stabilize zero dynamic, and the sliding mode controller, which is robust to the parameter perturbations of the closed-loop system. Simulations show that the virtual stabilized sliding mode control scheme guarantee nice result, and is strong robust to parameter perturbations.