Robust control design based-on integral sliding-mode for systems with norm-bounded uncertainties

Based on the integral sliding-mode control that copes with norm-bounded matched uncertainties, a robust control of L₂-gain performance measure subsequently applied to the system is proposed to handle both nonlinearities and unmatched uncertainties. The similar issue through the use of higher order multi-mode model has been relaxed. Instead of using exact known multi-mode to express the uncertain system, the norm-bound convex set is a concise way of expressing the model and hence, higher order models needed in the computation can be avoided. In this paper integral sliding-mode control robustly nullifies the matched uncertainties from the first beginning of the process and then, once in the sliding mode, the nonlinearities and unmatched uncertainties are further compensated by the quadratic stability with L₂-gain performance measure to not only stabilize the system but also ensure the satisfaction of performance. The effectiveness is shown in a numerical example.