Robust block decomposition sliding mode control design (Q1886203)

A class of nonlinear uncertain control systems is considered. First, a procedure (based on the integral transformation method) is applied to reduce the original control system to a suitable {block controllable form}. Next, a discontinuous control strategy is proposed. This strategy ensures the convergence of the closed-loop system in finite time to a suitably chosen sliding manifold. Finally, to achieve stabilization of the sliding mode motion and compensation of the unmatched uncertainty, the controller gains are chosen in a suitable hierarchical way. The corresponding proof is based on {a comparison lemma} applied to a suitable Lyapunov function for each block.