Robust decentralized sliding mode control for large scale uncertain systems

To design a decentralized sliding mode control for uncertain interconnected systems, two approaches are presented in this paper. The first one exploits the use of the common sliding mode strategy of design to simplify the structure of the controller and to give useful results after the reaching phase, while the second takes advantage of a particular sliding surface to give good results starting from any initial conditions. The implementation of the proposed decentralized sliding mode controllers, through a two coupled inverted pendulums model, shows their validity.