Second Order Sliding Mode Control of an Overhead-Crane in the presence of external perturbations

An example of an Overhead Crane system subject to parametric and external perturbations is the topic of study. The note includes the design of a Second Order Sliding Mode Controller in order to ensure the precise trajectory tracking for the actuated variable and at the same time the regulation of the under-actuated variable, despite of parametric perturbations, as well as matched and unmatched disturbances. Simulations verified the proposed methodology.