MIMO Second Order Sliding Mode Control

Abstract

The paper proposes an approach to second order sliding mode control for multi-input multi-output (MIMO) nonlinear uncertain systems. Second order sliding mode techniques for single-input single-output (SISO) systems show, with respect to standard sliding mode control, the same properties of robustness and precision, feature a higher order accuracy and can be exploited to eliminate the chattering effect. The application of second order sliding mode control to MIMO nonlinear systems is a challenging matter. The presented MIMO control method applies to a quite large class of nonlinear processes affected by uncertainties of general nature; the control design is simple; the conditions of existence on the controllers are weak. The proposed procedure represents a general approach to the second order sliding mode control of MIMO systems