Terminal sliding mode control of MIMO linear systems with unmatched uncertainties

This paper presents a terminal sliding mode controller for the MIMO linear systems with the unmatched uncertainties. A special terminal sliding mode manifold and control technique are proposed to guarantee the system states to reach the sliding mode manifold in finite time, and subsequently converge to the neighborhood of the equilibrium points in finite time. The mathematical relationship between the neighborhood of the equilibrium points and the range of the unmatched uncertainties and parameters of the sliding mode is formulated, which can be used for the system design and analysis. Simulation results are presented to validate the design.