Improved nonsingular terminal sliding mode controller design for high-order systems

An improved design method of nonsingular terminal sliding mode control is proposed in this paper. It is shown that, by selecting a novel nonlinear sliding surface, the controller is obtained which drives the states of high-order systems to reach the equilibrium from any initial states in finite time. Finally, an improved nonsingular terminal sliding mode controller is designed which effectively solves the singularity problem and reduces the chatting. Simulation results show the validity of the new method.