Dynamic sliding mode control for nonlinear systems: Stability analysis

The stability of the closed-loop system resulting from a particular dynamic sliding mode control policy is analysed. The closed-loop system is seen to have a particular triangular form. As long as the sliding gain matrix K is properly chosen and the system is minimum phase in a proper sense, uniform asymptotic stability of the closed-loop system is found to be guaranteed. The lower bound for the sliding gain matrix K is also obtained.