Approximate causal output tracking for linear perturbed systems via sliding mode control

Decentralised Sliding Mode Tracking Control for a Class of Nonlinear Interconnected Systems

“…k i (z i1 , y i ) is the control gain to be designed later. Theorem 2: Consider the nonlinear interconnected system (11)- (12). Under Assumptions 2-5, the controller (23) drives the system ( 11)-( 12) to the composite sliding surface (16) and maintains a sliding motion on it if the controller gains…”

“…Proof: From the analysis above, all that needs to be proved is the reachability condition ( 22) is satisfied. From (12) and Assumption 2,…”

“…[20], [15]). The output tracking sliding mode control is designed in [12] where the considered system is linear. Although tracking control for nonlinear systems with uncertainties is considered in [3] where the event-triggered tracking is considered but only matched disturbances are considered.…”