Abstract
The output tracking in nonlinear multi-input/multioutput (MIMO) nomninimum phase systems with matched nonlinearities as well as matched and unmatched disturbances is considered in sliding modes. The output tracking problem is solved using the dynamic sliding manifold @SM) technique. .The linear bounded L error dynamics with desired eigenvalue placement forced by unmatched disturbance and causal reference output profile is provided. Addressing nomninimum phase condition, the sliding mode controller (SMC) joins features of a conventional SMC (insensitivity to matched nonlinearities and disturbances) and a conventional dynamic compensator (accomodation to unmatched disturbances). Robust nonminimum phase output tracking on sliding modes is demonstrated for F-16 flight path angle control.
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