| Abstract: | This article proposes the use of sliding regimes, defined on a suitable input-dependent sliding surface, as a means of making more robust any model-based smooth feedback control scheme designed for the stabilization of a general nonlinear plant. The approach naturally produces a, robust, ‘outer loop’ redundant discontinuous feedback scheme, with several advantageous properties regarding insensitivity to external perturbation signals, modelling errors and sudden failure of the smooth portion of the feedback loop. |
