Variable structure control of general nonlinear systems and its implementation by nonlinear observers

Abstract

The necessary and sufficient conditions are established for the existence of sliding mode for general nonlinear VSC systems. Based upon these conditions, the design methods of switching functions and variable structure controllers are given. The dynamic performance of the closed loop systems with the controllers implemented by state observers is studied and it is shown that the states of the closed loop systems can approach asymptotically to ideal sliding manifolds locally for a class of nonlinear systems.