Abstract
Abstract The technique of sliding mode control in variable structure systems has found successful applications, especially for single‐input‐single‐output nonlinear systems in controllable canonical form. It has been recently noticed that asymptotic stability of a variable structure system can't be guaranteed in some cases. This paper explores the stability problem in the context of stable, robust tracking of an arbitrary time‐varying reference by the class of affine nonlinear, decouplable systems. We show that stable tracking by sliding mode control can be guaranteed only if the system is of minimum phase.
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