Department of Electrical Engineering, National Taiwan University, Taipei, Taiwan, 10764, R.O.C.
Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan, 10764, R.O.C.
Abstract:
The stability problem of output tracking of a bounded time-varying reference by decouplable affine nonlinear systems using sliding mode control is investigated. It is shown that when the error dynamics on the sliding surface is chosen to be linear time-invariant, closed loop stability of systems under the presented sliding mode control can be guaranteed only if the systems are minimum phase.