Nonlinear nonminimum phase output tracking via dynamic sliding manifolds

Abstract

The output tracking in nonlinear nonminimum phase systems with matched and unmatched disturbances and matched nonlinearities is considered. The asymptotic linear output tracking with the desired (given) eigenvalues' placement is provided in a dynamic sliding manifold. The design algorithm of the sliding mode controller with the dynamic sliding manifold is developed. Addressing nonlinear nonminimum phase output tracking, the dynamic sliding mode controller joins features of a conventional sliding mode controller (insensitivity to matched nonlinearities and disturbances) and a conventional dynamic compensator (accommodation to unmatched disturbances).