Second order sliding mode for MIMO nonlinear uncertain systems based on a neural identifier

This paper deals with adaptive tracking for discrete-time nonlinear systems in presence of disturbances. A high order neural network structure is used to identify the plant model and based on this model, a discrete-time high order sliding mode, control law is derived. The paper also includes the respective stability analysis, for the whole system with a strategy. In order to show the applicability of the proposed scheme, simulation results are included for a Van der Pol oscillator.