Robust tracking and model following for a class of uncertain dynamical systems by variable structure control

The problem of robust tracking and model following for a class of dynamical systems with uncertainties is considered. Based on sliding mode control theory, a class of variable structure tracking controllers are proposed for robust tracking of dynamical signals in such a class of uncertain dynamical systems. For systems with matched uncertainties, it can be guaranteed theoretically that the tracking error decreases asymptotically to zero. Finally, a numerical example is given to demonstrate the validity of the results.