Sliding Mode Control for a Class of Unmatched Uncertain Linear System

A novel method of designing nonlinear robust sliding mode controller is presented to a class of nonlinear unmatched uncertain systems based on integral sliding mode and self-tuning law. Firstly, the unmatched is will not be amplified by the discontinuous control. Then the controller based on integral sliding mode is constructed to ensure the robustness. The stability of proposed procedure is proven by using the Lyapunov theory and guarantees robustness against uncertainties. The upper bounds of uncertainties are not required to be known in advance. Finally, simulation studies demonstrate that the proposed controller is robust with respect to the perturbation.