Abstract
A class of interconnected systems with nonlinear interconnections and nonlinear disturbances is considered. A continuous nonlinear reduced-order compensator is established by exploiting the structure of the uncertainties. A sliding surface is proposed in an augmented space formed by the system output and the compensator variables, and the stability of the corresponding sliding mode is analysed. Then, a robust decentralised dynamical output feedback sliding mode controller is designed to drive the system to the composite sliding surface and maintain a sliding motion on it thereafter.
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