Robust control of systems involving non-smooth nonlinearities using modified sliding manifolds

This paper proposes a robust variable structure control design procedure for output reference tracking in continuous-time systems involving input, output and/or state nonsmooth nonlinearities. Methods of characterizing such nonlinearities in a standard form are briefly overviewed, analytic methods for stiction and existence of limit cycles are discussed, leading to a design procedure. A design example which involves a discontinuous friction term and an output dead-zone driven by an actuator that has backlash type characteristics is presented