Nonlinear Integral Sliding Mode Control Design for Singularly Perturbed Systems Under Matched and Unmatched Uncertainties

A new nonlinear integral sliding mode control (ISMC) algorithm for singularly perturbed multiple-inputs and multiple-outputs (MIMO) systems subject to matched and unmatched uncertainties is proposed. The circumstance of fast sensor dynamics in series with the plant exemplifies the results. Using prior knowledge about the sensor dynamics, the ISMC structure and its parameters can be tuned to ensure that the closed loop converges to a suitably small neighborhood of the desired equilibrium. It is shown that the controlled system is semiglobally practically stable provided the convergence to the sliding manifold is faster than the main time constant governing the sensor dynamics. Simulations explore the results.