Multiple sliding surface control for systems with mismatched uncertainties

This paper proposes a new method for sliding mode control of systems with mismatched uncertainties. The proposed method employs a multiple sliding surface (MSS) approach combined with inertial delay control (IDC) for estimating unmatched disturbances. It has the advantage of tackling constant as well as time-variant and state dependent disturbances/uncertainties. The proposed method is validated by simulation and compared with traditional sliding mode control (SMC) and integral sliding mode control (I-SMC) method.