Analysis and design of integral sliding mode control based on Lyapunov's direct method

In this paper, the integral sliding mode control is analyzed and designed under the framework of Lyapunov technology. A nonlinear integral-type sliding surface is used to yield a sliding manifold specified in the entire state space. Two types of unmatched system uncertainties are considered and their effects to the sliding manifold are explored. In the sequel a nonlinear nominal control scheme is proposed to improve the performance of the sliding manifold.