Nonminimum phase output tracking via dynamic sliding manifolds

The output tracking is considered in nonminimum phase systems with unmatched disturbances and matched nonlinearities. A desired output tracking is provided in a dynamic sliding manifold. A design algorithm of a sliding mode controller with a dynamic sliding manifold is developed. The dynamic sliding mode controller joined features of a conventional sliding mode controller (insensitivity to matched nonlinearities and disturbances) and a conventional dynamic compensator (accommodation to unmatched disturbances).