Abstract
In this paper, for a class of systems which is linear time invariant and single-input and state accessible with unmatched parametric uncertainties, a new model following control based on an adaptive sliding surface is presented. The tracking error converges to zero asymptotically by the proposed controller in the presence of such uncertainties. In addition, even though there are matching disturbances which have unknown upper bounds, finite time reaching to sliding surface can be achieved and then the performance of the system is invariant to matching disturbances on the sliding mode. Simulation results are also presented to show the strength of the presented method.
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