Continuous sliding mode tracking control with robust observer for nonlinear systems

New method to designing continuous sliding mode control (CSMC) law for a class of nonlinear uncertain systems is presented in this paper. By constructing a robust observer based on LMI method, variable structure control (VSC) law can be designed on the derivative of the control signal. Consequently chattering phenomenon is eliminated. Simulation results on a numerical example are introduced to illustrate the system performance and the feasibility of the control algorithm.