High-order sliding mode control of uncertain multivariable systems

Based on a derivative estimator and eigenvalue configuration,a second-order nonsingular terminal sliding mode decomposed control method is proposed for a class of multivariable systems with uncertain systemic matrix and input matrix.The proposed method is suitable for high-dimensional multivariable systems,which can simplify the design of controller,eliminate the chattering phenomenon and realize robust hierarchical control.The simulation results show the effectiveness of the design method.