International Journal of applied mathematics and computer science

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Paper details

Number 1 - March 1998
Volume 8 - 1998

A new sliding mode approach to asymptotic feedback linearisation with application to the control of non-flat systems

Xiao-Yun Lu, Sarah K. Spurgeon

A dynamic sliding mode controller design method is proposed. The method uses a novel choice of the sliding surface to effect asymptotic linearisation of nonlinear differential input output systems and a class of state space systems. The stability of the overall system, i.e. a canonical state space form with a dynamic feedback, is analysed. This method is shown to be able to control a fairly general class of systems, including some which are not linearizable by dynamic feedback, using a chatter free control. The theoretical results are applied to the control of a particular single input system which is not dynamic feedback linearizable.