Abstract
A nonlinear PID controller for robust tracking of second-order nonlinear systems is proposed, which consists in a classical PD structure plus a fractional-order nonlinear integral action of control (FONLI). This nonlinear integral action of fractional-order induces robustness properties to the closed-loop system in order to withstand for a general class of continuous but not necessarily differentiable disturbances, while inducing a stable sliding motion in finite time, such that, the tracking error converges with exponential rate. The resulting controller is uniformly continuous, preserving the regularity of the control signal. The proposed scheme is extended for higher-order dynamical systems by means of a state-feedback control plus a FONLI, inducing a stable motion in finite time. Numerical results based on simulation are discussed to show the reliability of the proposed scheme.
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