Abstract

This paper offers a combination of composite nonlinear feedback and integral sliding mode to achieve high performance and robustness for matched and unmatched uncertain MIMO linear systems. The control law is designed to guarantee the existence of the sliding mode around the nonlinear surface, and the damping ratio of the closed-loop system is increased as the output approaches the set-point. Simulation results are presented to show the effectiveness of the proposed method as a promising way for controlling similar nonlinear systems.