MIMO 2-sliding control design

Abstract

Multi-Input-Multi-Output (MIMO) tracking problem under uncertainty conditions is considered. The proposed vector 2-sliding control design preserves the main Single-Input-Single-Output 2-sliding control features: the control is finite-time convergent and chattering-free, the tracking is exact. With discrete sampling it provides for the tracking accuracy proportional to the sampling step squared. The design procedure requires non-singularity of the control matrix.