Gain-scheduled high-order MIMO sliding mode control

Arie Levant*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


Multi-Input Multi-Output High-Order Sliding-Mode (HOSM) control is designed, provided the system features well-defined vector relative degree, and an approximation of the corresponding matrix of the high-order output partial derivatives with respect to controls is available. In particular, a gain-scheduling procedure is optional. A finite-time-stable homogeneous HOSM is produced. Asymptotic accuracies are calculated in the presence of noises, delays, discrete sampling. Computer simulation confirms the theoretical results.

Original languageEnglish
Title of host publication2010 49th IEEE Conference on Decision and Control, CDC 2010
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781424477456
StatePublished - 2010
Event49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States
Duration: 15 Dec 201017 Dec 2010

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Conference49th IEEE Conference on Decision and Control, CDC 2010
Country/TerritoryUnited States


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