Sliding Mode Control for Mismatched Uncertain Systems Using an Extended Disturbance Observer

Abstract

This paper extends a recent result on sliding mode control for general n th order systems with mismatched uncertainties. In this paper, a control is proposed to handle a larger class of mismatched uncertainties by extending the disturbance observer and modifying and generalizing the sliding surface. The practical stability of the overall system is proved and the results are verified by simulation of an illustrative example.