A type of sliding mode control for nonlinear systems without drift

This paper demonstrates the usefulness of standard control mechanisms such as the relay and time delay for feedback control of drift free systems. A novel switching feedback strategy is formulated which accomplishes set point control for such systems. The strategy can be treated as a new type of sliding mode control; however it does not exhibit chattering. An advantage of the strategy is that it can handle constraints on the controls and is easy to implement.