Tracking control for a class of uncertain nonlinear large-scale systems via sliding mode technique

In this paper, the robust output tracking control problem fur a class of uncertain nonlinear large-scale systems is discussed. Based on the theory of both input/output (I/O) linearization and sliding mode control (SMC), two-level and decentralized variable structure control laws for this kind of systems are presented respectively, which achieve zero tracking error despite the uncertainties and disturbances.