Terminal sliding mode control of MIMO linear systems with unmatched uncertainties

A terminal sliding mode manifold and control methodology are proposed for MIMO linear systems with unmatched uncertainties. The system states are guaranteed to reach the sliding mode manifold in finite time, and converge to the neighborhood of the equilibrium point in finite time once they are on the sliding mode manifold. The mathematical relationship between the neighborhood of the equilibrium point and the range of the unmatched uncertainties and parameters of sliding mode is formulated, which can be used for the system design and analysis. Simulation results validate the design and the analysis.