Robust synchronization of nonlinear SISO systems using sliding mode control

We present a robust algorithm to synchronize two different single-input/single-output (SISO) nonlinear systems connected in a master/slave scheme, where the relative degree of the master system (rm) is greater than or equal to the relative degree of the slave (rs). The sliding mode control technique is used to design the coupling signal. This discontinuous controller renders the closed-loop system robust with respect to matched bounded disturbances. The synchronization objective is to match the first rs normal coordinates. Depending on the characteristics of the involved systems, the closed loop system can display full or partial, identical or generalized synchronization. The performance of the proposed controlled synchronization is illustrated numerically and experimentally.