Reference-Tracking Sliding-Mode Control Robust to Mismatched Exogenous Disturbances

A dynamic state-feedback sliding-mode controller (SMC) based on the internal model principle (IMP) is proposed for the tracking of exogenous signals. The proposed SMC is robust to both matched disturbances and mismatched exogenous disturbances. It also achieves robustness to matched parametric uncertainties and a certain degree of mismatched parametric uncertainties. The stability of the closed-loop system and the existence of a global solution are theoretically guaranteed by a specific initialization of the internal model. Its performance is demonstrated through numerical simulations.