Output tracking design of affine nonlinear plant via variable structure system

An output tracking design for affine nonlinear systems via a variable structure system is proposed. The structure algorithm is used to determine if the considered system is left invertible. It is shown that if such a condition is satisfied, then a sliding mode controller can be designed to achieve output tracking. The decouplability condition in conventional approaches is now replaced by the weaker left-invertibility condition. Stable tracking is guaranteed if the internal mode is bounded-input-bounded-state stable. Simulation results are included to demonstrate the design procedure.<
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