Design of the output sliding mode controller for MI non-linear perturbed systems

An output sliding mode controller for a class of multi-input non-linear systems with non-linear mismatched perturbations is proposed by using the Lyapunov stability theorem to solve the regulation problems. An auxiliary dynamic equation is used to estimate unknown states and to depress non-linear perturbations in the control system. Design variables embedded in the auxiliary equation are utilised in the novel sliding surface so that asymptotic stability of controlled system can be achieved when the system is in the sliding mode. Finally, the feasibility of the proposed methodology is demonstrated in two examples, including a servo position control system.