Nonlinear Control Based on Integral Sliding Surfaces

An integral sliding mode control method is presented for a class of nonlinear systems. The control design is divided into two steps. Firstly, a linear system is derived from the original complicated system, and an asymptotically stable controller is designed for this simplified system using linear system design method. Secondly, based on the stable closed-loop linear system, an integral sliding surface is constructed, and a control is developed to ensure the reachability of the sliding surface. Consequently, the stabilization of the whole complicated system is achieved. The stability of the closed-loop system is also analyzed. Finally, simulation studies are included to illustrate the effectiveness of the proposed method.