Integral Sliding Mode Preview Repetitive Control for Continuous‐Time Nonlinear Systems

ABSTRACT This paper proposes an integral sliding mode control (ISMC) method based on preview repetitive control (PRC) for continuous‐time nonlinear systems with the presence of matched uncertainties, external disturbances, and norm‐bounded nonlinearities. First, a two‐dimensional (2D) dynamic system is constructed. Second, the linear matrix inequality (LMI)‐based condition is proposed, and the PRC law is designed for the nominal system. Then, a preview repetitive integral sliding mode control (PRISMC) law is obtained by combining an integral sliding mode controller with the preview repetitive controller, which ensures the robustness of the linear system. Finally, the effectiveness of the method is verified by a numerical simulation.