High-order Nonsingular Terminal Sliding Mode Control of Uncertain Multivariable Systems

This paper proposes a control approach for a class of high dimensional uncertain linear multivariable systems. By two state transformations, the systems are firstly converted into decomposed block controllable form, which consists of an input- output subsystem and a stable internal dynamic subsystem. A novel high-order nonsingular terminal sliding controller is proposed for input-output subsystem to realize fast system convergence, better tracking precision and free-chattering control. A derivative estimator is utilized to obtain the differential signal of the system states for the realization of controller. The simulation results are presented to validate the design method.