On sliding-mode servocontrollers for left-invertible MIMO nonlinear sytems

A servocontroller design method for left-invertible affine nonlinear systems via sliding mode technique is proposed. The feature of this method is to require no (high order) differential of a reference signal to construct an output tracking system. The output tracks the reference signal with no steady-state error. A switching surface is designed for a dynamic compensator and the controlled system transformed by the structure algorithm. The stability of the servomechanism is guaranteed if the internal mode is bounded-input bounded-state stable.