A new sliding mode controller for multivariable nonlinear systems

A new approach using the theory of sliding mode is proposed for accurate tracking control of multivariable (MIMO) nonlinear systems. The present paper shows how to robustify the performances of the sliding mode control (SMC) by using a decoupling linearization and an order's switching surface equal to the dimension's I/O linearized system. An example is treated to demonstrate the robustness of the proposed controller.