A new nonlinear sliding mode control system design

A new nonlinear sliding mode controller is presented for a second-order nonlinear dynamic system with mismatch parameter uncertainty and external disturbance. Firstly, this paper proposes a new nonlinear sliding mode with an arctan function on which the system states are stable asymptotically. Secondly, a nonlinear silding mode controller is developed to guarantee that the system states can reach the sliding mode surface from any initial system state in finite time and stay the domain of the equilibrium point. Finally, an illustrative example shows that the controller is robust to parameter uncertainty and eliminate external disturbance caused by chattering nearby the sliding mode surface. Also, consume energy of this method is the least than that of the linear sliding mode controller and terminal sliding mode controller.