Terminal sliding mode decomposed control of multivariable uncertain systems

A second-order sliding mode decomposed control method is presented for multivariable systems with parameter uncertainties and external disturbances. The system is converted to the block controllable form consisting of the input-output subsystem and the stable zero-dynamic subsystem. A special second-order terminal sliding mode and control law are proposed to drive the states of the input-output subsystem converge to the equilibrium points asymptotically. Then the states of the zero-dynamic subsystem converge to the equilibrium points asymptotically. Because of adopting the second order sliding mode, the high frequency chattering of the control signals is eliminated. The simulation results are presented to validate the effectiveness of the design.