A new higher order sliding mode control for a class of SISO systems

This paper presents a new arbitrary higher-order sliding mode controller for uncertain minimum phase nonlinear single-input-single-output (SISO) systems. The proposed controller is constructed on the basis of integral sliding mode concept and consists of two parts. One part achieves finite-time stabilization of the higher order input-output dynamics without uncertainties by solving a finite-horizon optimal control problem. The other part deals with the bounded uncertainties by adopting sliding mode control (SMC) approach which guarantees the robustness of the system throughout the entire response of the system. Control system stability is verified by virtue of the Lyapunov theory. An illustrative example verifies the effectiveness of the proposed algorithm.