Stabilization of Single-Input Nonlinear Systems Using Higher Order Compensating Sliding Mode Control

In this paper we investigate a new approach for the stabilization of nonlinear systems using sliding mode control. The idea is based on defining a local nonlinear coordinate transformation for a system with a given robust relative degree (c.f.[2]) and then finding a control law, in the new coordinates, which steers the state of the system to the origin. Our results on sliding mode controller are compared to a sliding mode control design based on approximate feedback linearization.