Novel model following sliding mode control with virtual states for multiple input case

In this paper, a new model following sliding mode control is proposed with a novel sliding surface for the error. This novel sliding surface has nominal dynamics of an original system controlled by optimal controller and makes it possible that the sliding mode control (SMC) technique with model following is used with the various types of control method. The reaching phase is removed by using an initial virtual state which makes the initial error state sliding function equal to zero.