Controller design for a class of systems with inherent right hand side discontinuities

Focuses on the analysis of a certain class of systems with inherent right hand side discontinuities and proposes a controller design procedure utilizing sliding modes to overcome the resulting problems (which we refer to as generalized stiction in a dynamic open subregion). Feedback linearization techniques are employed in the intermediate stages of the controller design procedure. Characterization of various well-known nonlinearities as members of this class are examined. These characterizations encourage further study of systems with input/output/state nonlinearities in this context. A sliding mode controller design approach has been preferred due to possible existence of uncertainties in systems and sliding mode control´s well-known disturbance/uncertainty rejection properties.