Some Analytical Remarks on Sliding Mode Control for Multi-Input Multi-Output Nonlinear Systems

More and more research has been developed on model based control techniques in recent times. These complicated control systems have the foundations laid on theories such as: Model Predictive Control, Feedback Linearization, Adaptive and Robust Control. The last approach is studied here, in particular the Sliding Mode (SM) Control is investigated. While a huge number of papers rotates around the description and application of SM control on single-input single-output (SISO) systems, the general theory of multi-input multi-output (MIMO) systems is not analyzed so thoroughly. Therefore, the goal of this paper is to identify the conditions necessary to realize the SM control for MIMO systems. In addition, in order to obtain the desired performance from the control system, a method for its parameter tuning is illustrated. In the end, a mere example is shown with the purpose of comparing the performance of the proposed approach with the same controller conventionally tuned.