Abstract
A robust tracking control system has been presented. The model, affected by bounded parameter uncertainties, has a structure often encountered in the analysis of complex mechanical systems. The continuous nonlinear control law which has been proposed (and which is an approximation of discontinuous laws) ensures the attractiveness of a certain region of the state space, while leaving the possibility of choosing the rate of convergence toward any ball of ultimate boundedness or just a decoupled structure of the controller. The method of analysis and design merges ideas of the VSC and Lyapunov approaches. Some of those ideas have been developed here and enriched for the tracking problem.
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