A backstepping second order variable structure control design for a class of uncertain nonlinear systems

The problem of the stabilization of uncertain nonlinear systems expressible in the perturbed-chain-of-integrators form is considered. Under suitable assumptions, the control problem is solved via a combined backstepping/variable structure control strategy which retains n-1 steps of a backstepping like procedure, and associates with them a final step aimed at generating a second order sliding regime on a suitably selected sliding manifold